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-rw-r--r--OpenSim/OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs31
-rw-r--r--OpenSim/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs297
-rw-r--r--OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj93
-rw-r--r--OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user12
-rw-r--r--OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build42
-rw-r--r--OpenSim/OpenSim.Physics/Manager/AssemblyInfo.cs31
-rw-r--r--OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj112
-rw-r--r--OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj.user12
-rw-r--r--OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build47
-rw-r--r--OpenSim/OpenSim.Physics/Manager/PhysicsActor.cs161
-rw-r--r--OpenSim/OpenSim.Physics/Manager/PhysicsManager.cs116
-rw-r--r--OpenSim/OpenSim.Physics/Manager/PhysicsScene.cs113
-rw-r--r--OpenSim/OpenSim.Physics/Manager/PhysicsVector.cs54
-rw-r--r--OpenSim/OpenSim.Physics/OdePlugin/AssemblyInfo.cs31
-rw-r--r--OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs452
-rw-r--r--OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj97
-rw-r--r--OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj.user12
-rw-r--r--OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build43
-rw-r--r--OpenSim/OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs31
-rw-r--r--OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj97
-rw-r--r--OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj.user12
-rw-r--r--OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build43
-rw-r--r--OpenSim/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs449
23 files changed, 2388 insertions, 0 deletions
diff --git a/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..0c9c06c
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs
@@ -0,0 +1,31 @@
1using System.Reflection;
2using System.Runtime.CompilerServices;
3using System.Runtime.InteropServices;
4
5// Information about this assembly is defined by the following
6// attributes.
7//
8// change them to the information which is associated with the assembly
9// you compile.
10
11[assembly: AssemblyTitle("PhysXplugin")]
12[assembly: AssemblyDescription("")]
13[assembly: AssemblyConfiguration("")]
14[assembly: AssemblyCompany("")]
15[assembly: AssemblyProduct("PhysXplugin")]
16[assembly: AssemblyCopyright("")]
17[assembly: AssemblyTrademark("")]
18[assembly: AssemblyCulture("")]
19
20// This sets the default COM visibility of types in the assembly to invisible.
21// If you need to expose a type to COM, use [ComVisible(true)] on that type.
22[assembly: ComVisible(false)]
23
24// The assembly version has following format :
25//
26// Major.Minor.Build.Revision
27//
28// You can specify all values by your own or you can build default build and revision
29// numbers with the '*' character (the default):
30
31[assembly: AssemblyVersion("1.0.*")]
diff --git a/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
new file mode 100644
index 0000000..54be853
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
@@ -0,0 +1,297 @@
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*/
27using System;
28using System.Collections.Generic;
29using OpenSim.Physics.Manager;
30
31namespace OpenSim.Physics.BasicPhysicsPlugin
32{
33 /// <summary>
34 /// Will be the PhysX plugin but for now will be a very basic physics engine
35 /// </summary>
36 public class BasicPhysicsPlugin : IPhysicsPlugin
37 {
38 private BasicScene _mScene;
39
40 public BasicPhysicsPlugin()
41 {
42
43 }
44
45 public bool Init()
46 {
47 return true;
48 }
49
50 public PhysicsScene GetScene()
51 {
52 if(_mScene == null)
53 {
54 _mScene = new BasicScene();
55 }
56 return(_mScene);
57 }
58
59 public string GetName()
60 {
61 return("basicphysics");
62 }
63
64 public void Dispose()
65 {
66
67 }
68 }
69
70 public class BasicScene :PhysicsScene
71 {
72 private List<BasicActor> _actors = new List<BasicActor>();
73 private float[] _heightMap;
74
75 public BasicScene()
76 {
77
78 }
79
80 public override PhysicsActor AddAvatar(PhysicsVector position)
81 {
82 BasicActor act = new BasicActor();
83 act.Position = position;
84 _actors.Add(act);
85 return act;
86 }
87
88 public override void RemoveAvatar(PhysicsActor actor)
89 {
90 BasicActor act = (BasicActor)actor;
91 if(_actors.Contains(act))
92 {
93 _actors.Remove(act);
94 }
95
96 }
97
98 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
99 {
100 return null;
101 }
102
103 public override void Simulate(float timeStep)
104 {
105 foreach (BasicActor actor in _actors)
106 {
107 actor.Position.X = actor.Position.X + (actor.Velocity.X * timeStep);
108 actor.Position.Y = actor.Position.Y + (actor.Velocity.Y * timeStep);
109 actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep);
110 /*if(actor.Flying)
111 {
112 actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep);
113 }
114 else
115 {
116 actor.Position.Z = actor.Position.Z + ((-9.8f + actor.Velocity.Z) * timeStep);
117 }
118 if(actor.Position.Z < (_heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1))
119 {*/
120 if ((actor.Position.Y > 0 && actor.Position.Y < 256) && (actor.Position.X > 0 && actor.Position.X < 256))
121 {
122 actor.Position.Z = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 1;
123 }
124 else
125 {
126 if (actor.Position.Y < -1)
127 {
128 actor.Position.Y = -1;
129 }
130 else if (actor.Position.Y > 257)
131 {
132 actor.Position.Y = 257;
133 }
134
135 if (actor.Position.X < -1)
136 {
137 actor.Position.X = -1;
138 }
139 if (actor.Position.X > 257)
140 {
141 actor.Position.X = 257;
142 }
143 }
144 //}
145
146
147
148 // This code needs sorting out - border crossings etc
149/* if(actor.Position.X<0)
150 {
151 ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z));
152 actor.Position.X = 0;
153 actor.Velocity.X = 0;
154 }
155 if(actor.Position.Y < 0)
156 {
157 ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z));
158 actor.Position.Y = 0;
159 actor.Velocity.Y = 0;
160 }
161 if(actor.Position.X > 255)
162 {
163 ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z));
164 actor.Position.X = 255;
165 actor.Velocity.X = 0;
166 }
167 if(actor.Position.Y > 255)
168 {
169 ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z));
170 actor.Position.Y = 255;
171 actor.Velocity.X = 0;
172 }*/
173 }
174 }
175
176 public override void GetResults()
177 {
178
179 }
180
181 public override bool IsThreaded
182 {
183 get
184 {
185 return(false); // for now we won't be multithreaded
186 }
187 }
188
189 public override void SetTerrain(float[] heightMap)
190 {
191 this._heightMap = heightMap;
192 }
193
194 public override void DeleteTerrain()
195 {
196
197 }
198 }
199
200 public class BasicActor : PhysicsActor
201 {
202 private PhysicsVector _position;
203 private PhysicsVector _velocity;
204 private PhysicsVector _acceleration;
205 private bool flying;
206 public BasicActor()
207 {
208 _velocity = new PhysicsVector();
209 _position = new PhysicsVector();
210 _acceleration = new PhysicsVector();
211 }
212
213 public override bool Flying
214 {
215 get
216 {
217 return false;
218 }
219 set
220 {
221 flying= value;
222 }
223 }
224
225 public override PhysicsVector Position
226 {
227 get
228 {
229 return _position;
230 }
231 set
232 {
233 _position = value;
234 }
235 }
236
237 public override PhysicsVector Velocity
238 {
239 get
240 {
241 return _velocity;
242 }
243 set
244 {
245 _velocity = value;
246 }
247 }
248
249 public override Axiom.MathLib.Quaternion Orientation
250 {
251 get
252 {
253 return Axiom.MathLib.Quaternion.Identity;
254 }
255 set
256 {
257
258 }
259 }
260
261 public override PhysicsVector Acceleration
262 {
263 get
264 {
265 return _acceleration;
266 }
267
268 }
269
270 public override bool Kinematic
271 {
272 get
273 {
274 return true;
275 }
276 set
277 {
278
279 }
280 }
281 public void SetAcceleration (PhysicsVector accel)
282 {
283 this._acceleration = accel;
284 }
285
286 public override void AddForce(PhysicsVector force)
287 {
288
289 }
290
291 public override void SetMomentum(PhysicsVector momentum)
292 {
293
294 }
295 }
296
297}
diff --git a/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj
new file mode 100644
index 0000000..15f3f72
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj
@@ -0,0 +1,93 @@
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>{4F874463-0000-0000-0000-000000000000}</ProjectGuid>
7 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
8 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
9 <ApplicationIcon></ApplicationIcon>
10 <AssemblyKeyContainerName>
11 </AssemblyKeyContainerName>
12 <AssemblyName>OpenSim.Physics.BasicPhysicsPlugin</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.Physics.BasicPhysicsPlugin</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="System" >
62 <HintPath>System.dll</HintPath>
63 <Private>False</Private>
64 </Reference>
65 <Reference Include="Axiom.MathLib.dll" >
66 <HintPath>..\..\..\bin\Axiom.MathLib.dll</HintPath>
67 <Private>False</Private>
68 </Reference>
69 </ItemGroup>
70 <ItemGroup>
71 <ProjectReference Include="..\Manager\OpenSim.Physics.Manager.csproj">
72 <Name>OpenSim.Physics.Manager</Name>
73 <Project>{8BE16150-0000-0000-0000-000000000000}</Project>
74 <Package>{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</Package>
75 <Private>False</Private>
76 </ProjectReference>
77 </ItemGroup>
78 <ItemGroup>
79 <Compile Include="AssemblyInfo.cs">
80 <SubType>Code</SubType>
81 </Compile>
82 <Compile Include="BasicPhysicsPlugin.cs">
83 <SubType>Code</SubType>
84 </Compile>
85 </ItemGroup>
86 <Import Project="$(MSBuildBinPath)\Microsoft.CSHARP.Targets" />
87 <PropertyGroup>
88 <PreBuildEvent>
89 </PreBuildEvent>
90 <PostBuildEvent>
91 </PostBuildEvent>
92 </PropertyGroup>
93</Project>
diff --git a/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user
new file mode 100644
index 0000000..d47d65d
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user
@@ -0,0 +1,12 @@
1<Project xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
4 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
5 <ReferencePath>C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-07\bin\</ReferencePath>
6 <LastOpenVersion>8.0.50727</LastOpenVersion>
7 <ProjectView>ProjectFiles</ProjectView>
8 <ProjectTrust>0</ProjectTrust>
9 </PropertyGroup>
10 <PropertyGroup Condition = " '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' " />
11 <PropertyGroup Condition = " '$(Configuration)|$(Platform)' == 'Release|AnyCPU' " />
12</Project>
diff --git a/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build
new file mode 100644
index 0000000..5845387
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build
@@ -0,0 +1,42 @@
1<?xml version="1.0" ?>
2<project name="OpenSim.Physics.BasicPhysicsPlugin" default="build">
3 <target name="build">
4 <echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
5 <mkdir dir="${project::get-base-directory()}/${build.dir}" />
6 <copy todir="${project::get-base-directory()}/${build.dir}">
7 <fileset basedir="${project::get-base-directory()}">
8 </fileset>
9 </copy>
10 <csc target="library" debug="${build.debug}" unsafe="False" define="TRACE;DEBUG" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
11 <resources prefix="OpenSim.Physics.BasicPhysicsPlugin" dynamicprefix="true" >
12 </resources>
13 <sources failonempty="true">
14 <include name="AssemblyInfo.cs" />
15 <include name="BasicPhysicsPlugin.cs" />
16 </sources>
17 <references basedir="${project::get-base-directory()}">
18 <lib>
19 <include name="${project::get-base-directory()}" />
20 <include name="${project::get-base-directory()}/${build.dir}" />
21 </lib>
22 <include name="System.dll" />
23 <include name="../../../bin/Axiom.MathLib.dll" />
24 <include name="../../../bin/OpenSim.Physics.Manager.dll" />
25 </references>
26 </csc>
27 <echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../../bin/Physics/" />
28 <mkdir dir="${project::get-base-directory()}/../../../bin/Physics/"/>
29 <copy todir="${project::get-base-directory()}/../../../bin/Physics/">
30 <fileset basedir="${project::get-base-directory()}/${build.dir}/" >
31 <include name="*.dll"/>
32 <include name="*.exe"/>
33 </fileset>
34 </copy>
35 </target>
36 <target name="clean">
37 <delete dir="${bin.dir}" failonerror="false" />
38 <delete dir="${obj.dir}" failonerror="false" />
39 </target>
40 <target name="doc" description="Creates documentation.">
41 </target>
42</project>
diff --git a/OpenSim/OpenSim.Physics/Manager/AssemblyInfo.cs b/OpenSim/OpenSim.Physics/Manager/AssemblyInfo.cs
new file mode 100644
index 0000000..57a8913
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/Manager/AssemblyInfo.cs
@@ -0,0 +1,31 @@
1using System.Reflection;
2using System.Runtime.CompilerServices;
3using System.Runtime.InteropServices;
4
5// Information about this assembly is defined by the following
6// attributes.
7//
8// change them to the information which is associated with the assembly
9// you compile.
10
11[assembly: AssemblyTitle("PhysicsManager")]
12[assembly: AssemblyDescription("")]
13[assembly: AssemblyConfiguration("")]
14[assembly: AssemblyCompany("")]
15[assembly: AssemblyProduct("PhysicsManager")]
16[assembly: AssemblyCopyright("")]
17[assembly: AssemblyTrademark("")]
18[assembly: AssemblyCulture("")]
19
20// This sets the default COM visibility of types in the assembly to invisible.
21// If you need to expose a type to COM, use [ComVisible(true)] on that type.
22[assembly: ComVisible(false)]
23
24// The assembly version has following format :
25//
26// Major.Minor.Build.Revision
27//
28// You can specify all values by your own or you can build default build and revision
29// numbers with the '*' character (the default):
30
31[assembly: AssemblyVersion("1.0.*")]
diff --git a/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj
new file mode 100644
index 0000000..70ffa30
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj
@@ -0,0 +1,112 @@
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>{8BE16150-0000-0000-0000-000000000000}</ProjectGuid>
7 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
8 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
9 <ApplicationIcon></ApplicationIcon>
10 <AssemblyKeyContainerName>
11 </AssemblyKeyContainerName>
12 <AssemblyName>OpenSim.Physics.Manager</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.Physics.Manager</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\</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\</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="System" >
62 <HintPath>System.dll</HintPath>
63 <Private>False</Private>
64 </Reference>
65 <Reference Include="System.Xml" >
66 <HintPath>System.Xml.dll</HintPath>
67 <Private>False</Private>
68 </Reference>
69 <Reference Include="Axiom.MathLib.dll" >
70 <HintPath>..\..\..\bin\Axiom.MathLib.dll</HintPath>
71 <Private>False</Private>
72 </Reference>
73 </ItemGroup>
74 <ItemGroup>
75 <ProjectReference Include="..\..\..\Common\OpenSim.Framework\OpenSim.Framework.csproj">
76 <Name>OpenSim.Framework</Name>
77 <Project>{8ACA2445-0000-0000-0000-000000000000}</Project>
78 <Package>{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</Package>
79 <Private>False</Private>
80 </ProjectReference>
81 <ProjectReference Include="..\..\..\Common\OpenSim.Framework.Console\OpenSim.Framework.Console.csproj">
82 <Name>OpenSim.Framework.Console</Name>
83 <Project>{A7CD0630-0000-0000-0000-000000000000}</Project>
84 <Package>{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</Package>
85 <Private>False</Private>
86 </ProjectReference>
87 </ItemGroup>
88 <ItemGroup>
89 <Compile Include="AssemblyInfo.cs">
90 <SubType>Code</SubType>
91 </Compile>
92 <Compile Include="PhysicsActor.cs">
93 <SubType>Code</SubType>
94 </Compile>
95 <Compile Include="PhysicsManager.cs">
96 <SubType>Code</SubType>
97 </Compile>
98 <Compile Include="PhysicsScene.cs">
99 <SubType>Code</SubType>
100 </Compile>
101 <Compile Include="PhysicsVector.cs">
102 <SubType>Code</SubType>
103 </Compile>
104 </ItemGroup>
105 <Import Project="$(MSBuildBinPath)\Microsoft.CSHARP.Targets" />
106 <PropertyGroup>
107 <PreBuildEvent>
108 </PreBuildEvent>
109 <PostBuildEvent>
110 </PostBuildEvent>
111 </PropertyGroup>
112</Project>
diff --git a/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj.user b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj.user
new file mode 100644
index 0000000..d47d65d
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj.user
@@ -0,0 +1,12 @@
1<Project xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
4 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
5 <ReferencePath>C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-07\bin\</ReferencePath>
6 <LastOpenVersion>8.0.50727</LastOpenVersion>
7 <ProjectView>ProjectFiles</ProjectView>
8 <ProjectTrust>0</ProjectTrust>
9 </PropertyGroup>
10 <PropertyGroup Condition = " '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' " />
11 <PropertyGroup Condition = " '$(Configuration)|$(Platform)' == 'Release|AnyCPU' " />
12</Project>
diff --git a/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build
new file mode 100644
index 0000000..726444a
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build
@@ -0,0 +1,47 @@
1<?xml version="1.0" ?>
2<project name="OpenSim.Physics.Manager" default="build">
3 <target name="build">
4 <echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
5 <mkdir dir="${project::get-base-directory()}/${build.dir}" />
6 <copy todir="${project::get-base-directory()}/${build.dir}">
7 <fileset basedir="${project::get-base-directory()}">
8 </fileset>
9 </copy>
10 <csc target="library" debug="${build.debug}" unsafe="False" define="TRACE;DEBUG" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
11 <resources prefix="OpenSim.Physics.Manager" dynamicprefix="true" >
12 </resources>
13 <sources failonempty="true">
14 <include name="AssemblyInfo.cs" />
15 <include name="PhysicsActor.cs" />
16 <include name="PhysicsManager.cs" />
17 <include name="PhysicsScene.cs" />
18 <include name="PhysicsVector.cs" />
19 </sources>
20 <references basedir="${project::get-base-directory()}">
21 <lib>
22 <include name="${project::get-base-directory()}" />
23 <include name="${project::get-base-directory()}/${build.dir}" />
24 </lib>
25 <include name="System.dll" />
26 <include name="System.Xml.dll" />
27 <include name="../../../bin/Axiom.MathLib.dll" />
28 <include name="../../../bin/OpenSim.Framework.dll" />
29 <include name="../../../bin/OpenSim.Framework.Console.dll" />
30 </references>
31 </csc>
32 <echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../../bin/" />
33 <mkdir dir="${project::get-base-directory()}/../../../bin/"/>
34 <copy todir="${project::get-base-directory()}/../../../bin/">
35 <fileset basedir="${project::get-base-directory()}/${build.dir}/" >
36 <include name="*.dll"/>
37 <include name="*.exe"/>
38 </fileset>
39 </copy>
40 </target>
41 <target name="clean">
42 <delete dir="${bin.dir}" failonerror="false" />
43 <delete dir="${obj.dir}" failonerror="false" />
44 </target>
45 <target name="doc" description="Creates documentation.">
46 </target>
47</project>
diff --git a/OpenSim/OpenSim.Physics/Manager/PhysicsActor.cs b/OpenSim/OpenSim.Physics/Manager/PhysicsActor.cs
new file mode 100644
index 0000000..a0b6c21
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/Manager/PhysicsActor.cs
@@ -0,0 +1,161 @@
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
28using System;
29using System.Collections.Generic;
30using System.Text;
31
32namespace OpenSim.Physics.Manager
33{
34 public abstract class PhysicsActor
35 {
36 public static PhysicsActor Null
37 {
38 get
39 {
40 return new NullPhysicsActor();
41 }
42 }
43
44 public abstract PhysicsVector Position
45 {
46 get;
47 set;
48 }
49
50 public abstract PhysicsVector Velocity
51 {
52 get;
53 set;
54 }
55
56 public abstract PhysicsVector Acceleration
57 {
58 get;
59 }
60
61 public abstract Axiom.MathLib.Quaternion Orientation
62 {
63 get;
64 set;
65 }
66
67 public abstract bool Flying
68 {
69 get;
70 set;
71 }
72
73 public abstract bool Kinematic
74 {
75 get;
76 set;
77 }
78
79 public abstract void AddForce(PhysicsVector force);
80
81 public abstract void SetMomentum(PhysicsVector momentum);
82 }
83
84 public class NullPhysicsActor : PhysicsActor
85 {
86 public override PhysicsVector Position
87 {
88 get
89 {
90 return PhysicsVector.Zero;
91 }
92 set
93 {
94 return;
95 }
96 }
97
98 public override PhysicsVector Velocity
99 {
100 get
101 {
102 return PhysicsVector.Zero;
103 }
104 set
105 {
106 return;
107 }
108 }
109
110 public override Axiom.MathLib.Quaternion Orientation
111 {
112 get
113 {
114 return Axiom.MathLib.Quaternion.Identity;
115 }
116 set
117 {
118
119 }
120 }
121
122 public override PhysicsVector Acceleration
123 {
124 get { return PhysicsVector.Zero; }
125 }
126
127 public override bool Flying
128 {
129 get
130 {
131 return false;
132 }
133 set
134 {
135 return;
136 }
137 }
138
139 public override bool Kinematic
140 {
141 get
142 {
143 return true;
144 }
145 set
146 {
147 return;
148 }
149 }
150
151 public override void AddForce(PhysicsVector force)
152 {
153 return;
154 }
155
156 public override void SetMomentum(PhysicsVector momentum)
157 {
158 return;
159 }
160 }
161}
diff --git a/OpenSim/OpenSim.Physics/Manager/PhysicsManager.cs b/OpenSim/OpenSim.Physics/Manager/PhysicsManager.cs
new file mode 100644
index 0000000..291fc7e
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/Manager/PhysicsManager.cs
@@ -0,0 +1,116 @@
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*/
27using System;
28using System.Collections.Generic;
29using System.Collections;
30using System.IO;
31using System.Reflection;
32using Axiom.MathLib;
33using OpenSim.Framework.Console;
34
35namespace OpenSim.Physics.Manager
36{
37 /// <summary>
38 /// Description of MyClass.
39 /// </summary>
40 public class PhysicsManager
41 {
42 private Dictionary<string, IPhysicsPlugin> _plugins=new Dictionary<string, IPhysicsPlugin>();
43
44 public PhysicsManager()
45 {
46
47 }
48
49 public PhysicsScene GetPhysicsScene(string engineName)
50 {
51 if (String.IsNullOrEmpty(engineName))
52 {
53 return new NullPhysicsScene();
54 }
55
56 if(_plugins.ContainsKey(engineName))
57 {
58 OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.LOW,"creating "+engineName);
59 return _plugins[engineName].GetScene();
60 }
61 else
62 {
63 OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.MEDIUM,"couldn't find physicsEngine: {0}",engineName);
64 throw new ArgumentException(String.Format("couldn't find physicsEngine: {0}",engineName));
65 }
66 }
67
68 public void LoadPlugins()
69 {
70 string path = Path.Combine(System.AppDomain.CurrentDomain.BaseDirectory ,"Physics");
71 string[] pluginFiles = Directory.GetFiles(path, "*.dll");
72
73
74 for(int i= 0; i<pluginFiles.Length; i++)
75 {
76 this.AddPlugin(pluginFiles[i]);
77 }
78 }
79
80 private void AddPlugin(string FileName)
81 {
82 Assembly pluginAssembly = Assembly.LoadFrom(FileName);
83
84 foreach (Type pluginType in pluginAssembly.GetTypes())
85 {
86 if (pluginType.IsPublic)
87 {
88 if (!pluginType.IsAbstract)
89 {
90 Type typeInterface = pluginType.GetInterface("IPhysicsPlugin", true);
91
92 if (typeInterface != null)
93 {
94 IPhysicsPlugin plug = (IPhysicsPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
95 plug.Init();
96 this._plugins.Add(plug.GetName(),plug);
97
98 }
99
100 typeInterface = null;
101 }
102 }
103 }
104
105 pluginAssembly = null;
106 }
107 }
108
109 public interface IPhysicsPlugin
110 {
111 bool Init();
112 PhysicsScene GetScene();
113 string GetName();
114 void Dispose();
115 }
116}
diff --git a/OpenSim/OpenSim.Physics/Manager/PhysicsScene.cs b/OpenSim/OpenSim.Physics/Manager/PhysicsScene.cs
new file mode 100644
index 0000000..7dab4e1
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/Manager/PhysicsScene.cs
@@ -0,0 +1,113 @@
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
28using System;
29using System.Collections.Generic;
30using System.Text;
31using OpenSim.Framework.Console;
32
33namespace OpenSim.Physics.Manager
34{
35 public abstract class PhysicsScene
36 {
37 public static PhysicsScene Null
38 {
39 get
40 {
41 return new NullPhysicsScene();
42 }
43 }
44
45 public abstract PhysicsActor AddAvatar(PhysicsVector position);
46
47 public abstract void RemoveAvatar(PhysicsActor actor);
48
49 public abstract PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size);
50
51 public abstract void Simulate(float timeStep);
52
53 public abstract void GetResults();
54
55 public abstract void SetTerrain(float[] heightMap);
56
57 public abstract void DeleteTerrain();
58
59 public abstract bool IsThreaded
60 {
61 get;
62 }
63 }
64
65 public class NullPhysicsScene : PhysicsScene
66 {
67 private static int m_workIndicator;
68
69 public override PhysicsActor AddAvatar(PhysicsVector position)
70 {
71 OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.VERBOSE,"NullPhysicsScene : AddAvatar({0})", position);
72 return PhysicsActor.Null;
73 }
74
75 public override void RemoveAvatar(PhysicsActor actor)
76 {
77
78 }
79
80 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
81 {
82 OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.VERBOSE, "NullPhysicsScene : AddPrim({0},{1})", position, size);
83 return PhysicsActor.Null;
84 }
85
86 public override void Simulate(float timeStep)
87 {
88 m_workIndicator = (m_workIndicator + 1) % 10;
89
90 //OpenSim.Framework.Console.MainConsole.Instance.SetStatus(m_workIndicator.ToString());
91 }
92
93 public override void GetResults()
94 {
95 OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.VERBOSE, "NullPhysicsScene : GetResults()");
96 }
97
98 public override void SetTerrain(float[] heightMap)
99 {
100 OpenSim.Framework.Console.MainConsole.Instance.WriteLine(LogPriority.VERBOSE, "NullPhysicsScene : SetTerrain({0} items)", heightMap.Length);
101 }
102
103 public override void DeleteTerrain()
104 {
105
106 }
107
108 public override bool IsThreaded
109 {
110 get { return false; }
111 }
112 }
113}
diff --git a/OpenSim/OpenSim.Physics/Manager/PhysicsVector.cs b/OpenSim/OpenSim.Physics/Manager/PhysicsVector.cs
new file mode 100644
index 0000000..3c824d0
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/Manager/PhysicsVector.cs
@@ -0,0 +1,54 @@
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
28using System;
29using System.Collections.Generic;
30using System.Text;
31
32namespace OpenSim.Physics.Manager
33{
34 public class PhysicsVector
35 {
36 public float X;
37 public float Y;
38 public float Z;
39
40 public PhysicsVector()
41 {
42
43 }
44
45 public PhysicsVector(float x, float y, float z)
46 {
47 X = x;
48 Y = y;
49 Z = z;
50 }
51
52 public static readonly PhysicsVector Zero = new PhysicsVector(0f, 0f, 0f);
53 }
54}
diff --git a/OpenSim/OpenSim.Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/OpenSim.Physics/OdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..913aae7
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/OdePlugin/AssemblyInfo.cs
@@ -0,0 +1,31 @@
1using System.Reflection;
2using System.Runtime.CompilerServices;
3using System.Runtime.InteropServices;
4
5// Information about this assembly is defined by the following
6// attributes.
7//
8// change them to the information which is associated with the assembly
9// you compile.
10
11[assembly: AssemblyTitle("RealPhysXplugin")]
12[assembly: AssemblyDescription("")]
13[assembly: AssemblyConfiguration("")]
14[assembly: AssemblyCompany("")]
15[assembly: AssemblyProduct("RealPhysXplugin")]
16[assembly: AssemblyCopyright("")]
17[assembly: AssemblyTrademark("")]
18[assembly: AssemblyCulture("")]
19
20// This sets the default COM visibility of types in the assembly to invisible.
21// If you need to expose a type to COM, use [ComVisible(true)] on that type.
22[assembly: ComVisible(false)]
23
24// The assembly version has following format :
25//
26// Major.Minor.Build.Revision
27//
28// You can specify all values by your own or you can build default build and revision
29// numbers with the '*' character (the default):
30
31[assembly: AssemblyVersion("1.0.*")]
diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs b/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..599dea8
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/OdePlugin/OdePlugin.cs
@@ -0,0 +1,452 @@
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*/
27using System;
28using System.Collections.Generic;
29using OpenSim.Physics.Manager;
30using Ode.NET;
31
32namespace OpenSim.Physics.OdePlugin
33{
34 /// <summary>
35 /// ODE plugin
36 /// </summary>
37 public class OdePlugin : IPhysicsPlugin
38 {
39 private OdeScene _mScene;
40
41 public OdePlugin()
42 {
43
44 }
45
46 public bool Init()
47 {
48 return true;
49 }
50
51 public PhysicsScene GetScene()
52 {
53 if (_mScene == null)
54 {
55 _mScene = new OdeScene();
56 }
57 return (_mScene);
58 }
59
60 public string GetName()
61 {
62 return ("OpenDynamicsEngine");
63 }
64
65 public void Dispose()
66 {
67
68 }
69 }
70
71 public class OdeScene : PhysicsScene
72 {
73 static public IntPtr world;
74 static public IntPtr space;
75 static private IntPtr contactgroup;
76 static private IntPtr LandGeom;
77 //static private IntPtr Land;
78 private double[] _heightmap;
79 static private d.NearCallback nearCallback = near;
80 private List<OdeCharacter> _characters = new List<OdeCharacter>();
81 private static d.ContactGeom[] contacts = new d.ContactGeom[30];
82 private static d.Contact contact;
83
84 public OdeScene()
85 {
86 contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
87 contact.surface.mu = d.Infinity;
88 contact.surface.mu2 = 0.0f;
89 contact.surface.bounce = 0.1f;
90 contact.surface.bounce_vel = 0.1f;
91 contact.surface.soft_cfm = 0.01f;
92
93 world = d.WorldCreate();
94 space = d.HashSpaceCreate(IntPtr.Zero);
95 contactgroup = d.JointGroupCreate(0);
96 d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
97 //d.WorldSetCFM(world, 1e-5f);
98 d.WorldSetAutoDisableFlag(world, false);
99 d.WorldSetContactSurfaceLayer(world, 0.001f);
100 // d.CreatePlane(space, 0, 0, 1, 0);
101 this._heightmap = new double[65536];
102 }
103
104 // This function blatantly ripped off from BoxStack.cs
105 static private void near(IntPtr space, IntPtr g1, IntPtr g2)
106 {
107 //Console.WriteLine("collision callback");
108 IntPtr b1 = d.GeomGetBody(g1);
109 IntPtr b2 = d.GeomGetBody(g2);
110 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
111 return;
112
113 int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
114 for (int i = 0; i < count; ++i)
115 {
116 contact.geom = contacts[i];
117 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
118 d.JointAttach(joint, b1, b2);
119 }
120
121 }
122
123 public override PhysicsActor AddAvatar(PhysicsVector position)
124 {
125 PhysicsVector pos = new PhysicsVector();
126 pos.X = position.X;
127 pos.Y = position.Y;
128 pos.Z = position.Z + 20;
129 OdeCharacter newAv = new OdeCharacter(this, pos);
130 this._characters.Add(newAv);
131 return newAv;
132 }
133
134 public override void RemoveAvatar(PhysicsActor actor)
135 {
136
137 }
138
139 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
140 {
141 PhysicsVector pos = new PhysicsVector();
142 pos.X = position.X;
143 pos.Y = position.Y;
144 pos.Z = position.Z;
145 PhysicsVector siz = new PhysicsVector();
146 siz.X = size.X;
147 siz.Y = size.Y;
148 siz.Z = size.Z;
149 return new OdePrim();
150 }
151
152 public override void Simulate(float timeStep)
153 {
154 foreach (OdeCharacter actor in _characters)
155 {
156 actor.Move(timeStep * 5f);
157 }
158 d.SpaceCollide(space, IntPtr.Zero, nearCallback);
159 d.WorldQuickStep(world, timeStep * 5f);
160 d.JointGroupEmpty(contactgroup);
161 foreach (OdeCharacter actor in _characters)
162 {
163 actor.UpdatePosition();
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 for (int i = 0; i < 65536; i++)
184 {
185 this._heightmap[i] = (double)heightMap[i];
186 }
187 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
188 d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
189 d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
190 LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
191 d.Matrix3 R = new d.Matrix3();
192
193 Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
194 Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
195 //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
196
197 q1 = q1 * q2;
198 //q1 = q1 * q3;
199 Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
200 float angle = 0;
201 q1.ToAngleAxis(ref angle, ref v3);
202
203 d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
204 d.GeomSetRotation(LandGeom, ref R);
205 d.GeomSetPosition(LandGeom, 128, 128, 0);
206 }
207
208 public override void DeleteTerrain()
209 {
210
211 }
212 }
213
214 public class OdeCharacter : PhysicsActor
215 {
216 private PhysicsVector _position;
217 private PhysicsVector _velocity;
218 private PhysicsVector _acceleration;
219 private bool flying;
220 //private float gravityAccel;
221 private IntPtr BoundingCapsule;
222 IntPtr capsule_geom;
223 d.Mass capsule_mass;
224
225 public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
226 {
227 _velocity = new PhysicsVector();
228 _position = pos;
229 _acceleration = new PhysicsVector();
230 d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
231 capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
232 this.BoundingCapsule = d.BodyCreate(OdeScene.world);
233 d.BodySetMass(BoundingCapsule, ref capsule_mass);
234 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
235 d.GeomSetBody(capsule_geom, BoundingCapsule);
236 }
237
238 public override bool Flying
239 {
240 get
241 {
242 return flying;
243 }
244 set
245 {
246 flying = value;
247 }
248 }
249
250 public override PhysicsVector Position
251 {
252 get
253 {
254 return _position;
255 }
256 set
257 {
258 _position = value;
259 }
260 }
261
262 public override PhysicsVector Velocity
263 {
264 get
265 {
266 return _velocity;
267 }
268 set
269 {
270 _velocity = value;
271 }
272 }
273
274 public override bool Kinematic
275 {
276 get
277 {
278 return false;
279 }
280 set
281 {
282
283 }
284 }
285
286 public override Axiom.MathLib.Quaternion Orientation
287 {
288 get
289 {
290 return Axiom.MathLib.Quaternion.Identity;
291 }
292 set
293 {
294
295 }
296 }
297
298 public override PhysicsVector Acceleration
299 {
300 get
301 {
302 return _acceleration;
303 }
304
305 }
306 public void SetAcceleration(PhysicsVector accel)
307 {
308 this._acceleration = accel;
309 }
310
311 public override void AddForce(PhysicsVector force)
312 {
313
314 }
315
316 public override void SetMomentum(PhysicsVector momentum)
317 {
318
319 }
320
321 public void Move(float timeStep)
322 {
323 PhysicsVector vec = new PhysicsVector();
324 vec.X = this._velocity.X * timeStep;
325 vec.Y = this._velocity.Y * timeStep;
326 if (flying)
327 {
328 vec.Z = (this._velocity.Z + 0.5f) * timeStep;
329 }
330 d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
331 }
332
333 public void UpdatePosition()
334 {
335 d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
336 this._position.X = vec.X;
337 this._position.Y = vec.Y;
338 this._position.Z = vec.Z;
339 }
340 }
341
342 public class OdePrim : PhysicsActor
343 {
344 private PhysicsVector _position;
345 private PhysicsVector _velocity;
346 private PhysicsVector _acceleration;
347
348 public OdePrim()
349 {
350 _velocity = new PhysicsVector();
351 _position = new PhysicsVector();
352 _acceleration = new PhysicsVector();
353 }
354 public override bool Flying
355 {
356 get
357 {
358 return false; //no flying prims for you
359 }
360 set
361 {
362
363 }
364 }
365 public override PhysicsVector Position
366 {
367 get
368 {
369 PhysicsVector pos = new PhysicsVector();
370 // PhysicsVector vec = this._prim.Position;
371 //pos.X = vec.X;
372 //pos.Y = vec.Y;
373 //pos.Z = vec.Z;
374 return pos;
375
376 }
377 set
378 {
379 /*PhysicsVector vec = value;
380 PhysicsVector pos = new PhysicsVector();
381 pos.X = vec.X;
382 pos.Y = vec.Y;
383 pos.Z = vec.Z;
384 this._prim.Position = pos;*/
385 }
386 }
387
388 public override PhysicsVector Velocity
389 {
390 get
391 {
392 return _velocity;
393 }
394 set
395 {
396 _velocity = value;
397 }
398 }
399
400 public override bool Kinematic
401 {
402 get
403 {
404 return false;
405 //return this._prim.Kinematic;
406 }
407 set
408 {
409 //this._prim.Kinematic = value;
410 }
411 }
412
413 public override Axiom.MathLib.Quaternion Orientation
414 {
415 get
416 {
417 Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
418 return res;
419 }
420 set
421 {
422
423 }
424 }
425
426 public override PhysicsVector Acceleration
427 {
428 get
429 {
430 return _acceleration;
431 }
432
433 }
434 public void SetAcceleration(PhysicsVector accel)
435 {
436 this._acceleration = accel;
437 }
438
439 public override void AddForce(PhysicsVector force)
440 {
441
442 }
443
444 public override void SetMomentum(PhysicsVector momentum)
445 {
446
447 }
448
449
450 }
451
452}
diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj
new file mode 100644
index 0000000..8d57bd5
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.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>{63A05FE9-0000-0000-0000-000000000000}</ProjectGuid>
7 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
8 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
9 <ApplicationIcon></ApplicationIcon>
10 <AssemblyKeyContainerName>
11 </AssemblyKeyContainerName>
12 <AssemblyName>OpenSim.Physics.OdePlugin</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.Physics.OdePlugin</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="System" >
62 <HintPath>System.dll</HintPath>
63 <Private>False</Private>
64 </Reference>
65 <Reference Include="Axiom.MathLib.dll" >
66 <HintPath>..\..\..\bin\Axiom.MathLib.dll</HintPath>
67 <Private>False</Private>
68 </Reference>
69 <Reference Include="Ode.NET.dll" >
70 <HintPath>..\..\..\bin\Ode.NET.dll</HintPath>
71 <Private>False</Private>
72 </Reference>
73 </ItemGroup>
74 <ItemGroup>
75 <ProjectReference Include="..\Manager\OpenSim.Physics.Manager.csproj">
76 <Name>OpenSim.Physics.Manager</Name>
77 <Project>{8BE16150-0000-0000-0000-000000000000}</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="OdePlugin.cs">
87 <SubType>Code</SubType>
88 </Compile>
89 </ItemGroup>
90 <Import Project="$(MSBuildBinPath)\Microsoft.CSHARP.Targets" />
91 <PropertyGroup>
92 <PreBuildEvent>
93 </PreBuildEvent>
94 <PostBuildEvent>
95 </PostBuildEvent>
96 </PropertyGroup>
97</Project>
diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj.user b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj.user
new file mode 100644
index 0000000..d47d65d
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.csproj.user
@@ -0,0 +1,12 @@
1<Project xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
4 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
5 <ReferencePath>C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-07\bin\</ReferencePath>
6 <LastOpenVersion>8.0.50727</LastOpenVersion>
7 <ProjectView>ProjectFiles</ProjectView>
8 <ProjectTrust>0</ProjectTrust>
9 </PropertyGroup>
10 <PropertyGroup Condition = " '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' " />
11 <PropertyGroup Condition = " '$(Configuration)|$(Platform)' == 'Release|AnyCPU' " />
12</Project>
diff --git a/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build
new file mode 100644
index 0000000..a49782f
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/OdePlugin/OpenSim.Physics.OdePlugin.dll.build
@@ -0,0 +1,43 @@
1<?xml version="1.0" ?>
2<project name="OpenSim.Physics.OdePlugin" default="build">
3 <target name="build">
4 <echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
5 <mkdir dir="${project::get-base-directory()}/${build.dir}" />
6 <copy todir="${project::get-base-directory()}/${build.dir}">
7 <fileset basedir="${project::get-base-directory()}">
8 </fileset>
9 </copy>
10 <csc target="library" debug="${build.debug}" unsafe="False" define="TRACE;DEBUG" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
11 <resources prefix="OpenSim.Physics.OdePlugin" dynamicprefix="true" >
12 </resources>
13 <sources failonempty="true">
14 <include name="AssemblyInfo.cs" />
15 <include name="OdePlugin.cs" />
16 </sources>
17 <references basedir="${project::get-base-directory()}">
18 <lib>
19 <include name="${project::get-base-directory()}" />
20 <include name="${project::get-base-directory()}/${build.dir}" />
21 </lib>
22 <include name="System.dll" />
23 <include name="../../../bin/Axiom.MathLib.dll" />
24 <include name="../../../bin/OpenSim.Physics.Manager.dll" />
25 <include name="../../../bin/Ode.NET.dll" />
26 </references>
27 </csc>
28 <echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../../bin/Physics/" />
29 <mkdir dir="${project::get-base-directory()}/../../../bin/Physics/"/>
30 <copy todir="${project::get-base-directory()}/../../../bin/Physics/">
31 <fileset basedir="${project::get-base-directory()}/${build.dir}/" >
32 <include name="*.dll"/>
33 <include name="*.exe"/>
34 </fileset>
35 </copy>
36 </target>
37 <target name="clean">
38 <delete dir="${bin.dir}" failonerror="false" />
39 <delete dir="${obj.dir}" failonerror="false" />
40 </target>
41 <target name="doc" description="Creates documentation.">
42 </target>
43</project>
diff --git a/OpenSim/OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs b/OpenSim/OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..913aae7
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs
@@ -0,0 +1,31 @@
1using System.Reflection;
2using System.Runtime.CompilerServices;
3using System.Runtime.InteropServices;
4
5// Information about this assembly is defined by the following
6// attributes.
7//
8// change them to the information which is associated with the assembly
9// you compile.
10
11[assembly: AssemblyTitle("RealPhysXplugin")]
12[assembly: AssemblyDescription("")]
13[assembly: AssemblyConfiguration("")]
14[assembly: AssemblyCompany("")]
15[assembly: AssemblyProduct("RealPhysXplugin")]
16[assembly: AssemblyCopyright("")]
17[assembly: AssemblyTrademark("")]
18[assembly: AssemblyCulture("")]
19
20// This sets the default COM visibility of types in the assembly to invisible.
21// If you need to expose a type to COM, use [ComVisible(true)] on that type.
22[assembly: ComVisible(false)]
23
24// The assembly version has following format :
25//
26// Major.Minor.Build.Revision
27//
28// You can specify all values by your own or you can build default build and revision
29// numbers with the '*' character (the default):
30
31[assembly: AssemblyVersion("1.0.*")]
diff --git a/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj
new file mode 100644
index 0000000..b72bb0f
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.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>{988F0AC4-0000-0000-0000-000000000000}</ProjectGuid>
7 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
8 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
9 <ApplicationIcon></ApplicationIcon>
10 <AssemblyKeyContainerName>
11 </AssemblyKeyContainerName>
12 <AssemblyName>OpenSim.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.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="System" >
62 <HintPath>System.dll</HintPath>
63 <Private>False</Private>
64 </Reference>
65 <Reference Include="Axiom.MathLib.dll" >
66 <HintPath>..\..\..\bin\Axiom.MathLib.dll</HintPath>
67 <Private>False</Private>
68 </Reference>
69 <Reference Include="PhysX_Wrapper_Dotnet.dll" >
70 <HintPath>..\..\..\bin\PhysX_Wrapper_Dotnet.dll</HintPath>
71 <Private>False</Private>
72 </Reference>
73 </ItemGroup>
74 <ItemGroup>
75 <ProjectReference Include="..\Manager\OpenSim.Physics.Manager.csproj">
76 <Name>OpenSim.Physics.Manager</Name>
77 <Project>{8BE16150-0000-0000-0000-000000000000}</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="$(MSBuildBinPath)\Microsoft.CSHARP.Targets" />
91 <PropertyGroup>
92 <PreBuildEvent>
93 </PreBuildEvent>
94 <PostBuildEvent>
95 </PostBuildEvent>
96 </PropertyGroup>
97</Project>
diff --git a/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj.user b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj.user
new file mode 100644
index 0000000..d47d65d
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj.user
@@ -0,0 +1,12 @@
1<Project xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
4 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
5 <ReferencePath>C:\New Folder\second-life-viewer\opensim-dailys2\opensim15-07\bin\</ReferencePath>
6 <LastOpenVersion>8.0.50727</LastOpenVersion>
7 <ProjectView>ProjectFiles</ProjectView>
8 <ProjectTrust>0</ProjectTrust>
9 </PropertyGroup>
10 <PropertyGroup Condition = " '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' " />
11 <PropertyGroup Condition = " '$(Configuration)|$(Platform)' == 'Release|AnyCPU' " />
12</Project>
diff --git a/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build
new file mode 100644
index 0000000..2ea5534
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build
@@ -0,0 +1,43 @@
1<?xml version="1.0" ?>
2<project name="OpenSim.Physics.PhysXPlugin" default="build">
3 <target name="build">
4 <echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
5 <mkdir dir="${project::get-base-directory()}/${build.dir}" />
6 <copy todir="${project::get-base-directory()}/${build.dir}">
7 <fileset basedir="${project::get-base-directory()}">
8 </fileset>
9 </copy>
10 <csc target="library" debug="${build.debug}" unsafe="False" define="TRACE;DEBUG" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
11 <resources prefix="OpenSim.Physics.PhysXPlugin" dynamicprefix="true" >
12 </resources>
13 <sources failonempty="true">
14 <include name="AssemblyInfo.cs" />
15 <include name="PhysXPlugin.cs" />
16 </sources>
17 <references basedir="${project::get-base-directory()}">
18 <lib>
19 <include name="${project::get-base-directory()}" />
20 <include name="${project::get-base-directory()}/${build.dir}" />
21 </lib>
22 <include name="System.dll" />
23 <include name="../../../bin/Axiom.MathLib.dll" />
24 <include name="../../../bin/PhysX_Wrapper_Dotnet.dll" />
25 <include name="../../../bin/OpenSim.Physics.Manager.dll" />
26 </references>
27 </csc>
28 <echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../../bin/Physics/" />
29 <mkdir dir="${project::get-base-directory()}/../../../bin/Physics/"/>
30 <copy todir="${project::get-base-directory()}/../../../bin/Physics/">
31 <fileset basedir="${project::get-base-directory()}/${build.dir}/" >
32 <include name="*.dll"/>
33 <include name="*.exe"/>
34 </fileset>
35 </copy>
36 </target>
37 <target name="clean">
38 <delete dir="${bin.dir}" failonerror="false" />
39 <delete dir="${obj.dir}" failonerror="false" />
40 </target>
41 <target name="doc" description="Creates documentation.">
42 </target>
43</project>
diff --git a/OpenSim/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs
new file mode 100644
index 0000000..dff1ee2
--- /dev/null
+++ b/OpenSim/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs
@@ -0,0 +1,449 @@
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}
generated by cgit v1.1 at 2024-11-09 06:19:09 +0000