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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*/
28#region References
29using System;
30using System.Collections.Generic;
31using OpenSim.Physics.Manager;
32using Axiom.Math;
33//Specific References for BulletXPlugin
34using MonoXnaCompactMaths;
35using XnaDevRu.BulletX;
36using XnaDevRu.BulletX.Dynamics;
37#endregion
38
39namespace OpenSim.Region.Physics.BulletXPlugin
40{
41 /// <summary>
42 /// This Class converts objects and types for BulletX
43 /// </summary>
44 public class BulletXConversions
45 {
46 public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
47 {
48 return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
49 }
50 public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3)
51 {
52 XnaVector3.X = physicsVector.X;
53 XnaVector3.Y = physicsVector.Y;
54 XnaVector3.Z = physicsVector.Z;
55 }
56 public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3)
57 {
58 return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
59 }
60 /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector)
61 {
62 xnaVector3.X = physicsVector.X;
63 xnaVector3.Y = physicsVector.Y;
64 xnaVector3.Z = physicsVector.Z;
65 }*/
66 #region Axiom and Xna
67 ///// <summary>
68 ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know
69 ///// </summary>
70 ///// <param name="AxiomVector3"></param>
71 ///// <returns></returns>
72 //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3)
73 //{
74 // return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z);
75 //}
76 #endregion
77 }
78 /// <summary>
79 /// PhysicsPlugin Class for BulletX
80 /// </summary>
81 public class BulletXPlugin : IPhysicsPlugin
82 {
83 private BulletXScene _mScene;
84
85 public BulletXPlugin()
86 {
87 }
88 public bool Init()
89 {
90 return true;
91 }
92 public PhysicsScene GetScene()
93 {
94 if (_mScene == null)
95 {
96 _mScene = new BulletXScene();
97 }
98 return (_mScene);
99 }
100 public string GetName()
101 {
102 return ("BulletXEngine");
103 }
104 public void Dispose()
105 {
106 }
107 }
108 /// <summary>
109 /// PhysicsScene Class for BulletX
110 /// </summary>
111 public class BulletXScene : PhysicsScene
112 {
113 public DiscreteDynamicsWorld ddWorld;
114 private CollisionDispatcher cDispatcher;
115 private OverlappingPairCache opCache;
116 private SequentialImpulseConstraintSolver sicSolver;
117
118 private const int minXY = 0;
119 private const int minZ = 0;
120 private const int maxXY = 256;
121 private const int maxZ = 4096;
122 private const int maxHandles = 32766; //Why? I don't know
123 private static float gravity = 9.8f;
124 private static float heightLevel0 = 77.0f;
125 private static float heightLevel1 = 200.0f;
126 private static float lowGravityFactor = 0.2f;
127
128 private float[] _heightmap;
129 private List<BulletXCharacter> _characters = new List<BulletXCharacter>();
130
131 public static float Gravity { get { return gravity; } }
132 public static float HeightLevel0 { get { return heightLevel0; } }
133 public static float HeightLevel1 { get { return heightLevel1; } }
134 public static float LowGravityFactor { get { return lowGravityFactor; } }
135
136 public BulletXScene()
137 {
138 cDispatcher = new CollisionDispatcher();
139 MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ);
140 MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ);
141 opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
142 sicSolver = new SequentialImpulseConstraintSolver();
143
144 ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
145 ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
146
147 this._heightmap = new float[65536];
148 }
149
150 public override PhysicsActor AddAvatar(PhysicsVector position)
151 {
152 PhysicsVector pos = new PhysicsVector();
153 pos.X = position.X;
154 pos.Y = position.Y;
155 pos.Z = position.Z + 20;
156 BulletXCharacter newAv = new BulletXCharacter(this, pos);
157 this._characters.Add(newAv);
158 return newAv;
159 }
160
161 public override void RemoveAvatar(PhysicsActor actor)
162 {
163
164 }
165
166 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
167 {
168 PhysicsVector pos = new PhysicsVector();
169 pos.X = position.X;
170 pos.Y = position.Y;
171 pos.Z = position.Z;
172 PhysicsVector siz = new PhysicsVector();
173 siz.X = size.X;
174 siz.Y = size.Y;
175 siz.Z = size.Z;
176 return new BulletXPrim();
177 }
178
179 public override void Simulate(float timeStep)
180 {
181 foreach (BulletXCharacter actor in _characters)
182 {
183 actor.Move(timeStep);
184
185 }
186 ddWorld.StepSimulation(timeStep, 0, timeStep);
187 foreach (BulletXCharacter actor in _characters)
188 {
189 actor.ValidateHeight(this._heightmap[
190 (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256
191 + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]);
192 }
193 foreach (BulletXCharacter actor in _characters)
194 {
195 actor.UpdatePosition();
196 }
197
198 }
199
200 public override void GetResults()
201 {
202
203 }
204
205 public override bool IsThreaded
206 {
207 get
208 {
209 return (false); // for now we won't be multithreaded
210 }
211 }
212
213 public override void SetTerrain(float[] heightMap)
214 {
215 //As the same as ODE, heightmap (x,y) must be swapped for BulletX
216 for (int i = 0; i < 65536; i++)
217 {
218 // this._heightmap[i] = (double)heightMap[i];
219 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
220 int x = i & 0xff;
221 int y = i >> 8;
222 this._heightmap[i] = heightMap[x * 256 + y];
223 }
224 }
225
226 public override void DeleteTerrain()
227 {
228
229 }
230 }
231 /// <summary>
232 /// PhysicsActor Character Class for BulletX
233 /// </summary>
234 public class BulletXCharacter : PhysicsActor
235 {
236 private PhysicsVector _position;
237 private PhysicsVector _velocity;
238 private PhysicsVector _acceleration;
239 private bool flying;
240 private RigidBody rigidBody;
241 public Axiom.Math.Vector2 RigidBodyHorizontalPosition
242 {
243 get
244 {
245 return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
246 }
247 }
248 public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
249 {
250 _velocity = new PhysicsVector();
251 _position = pos;
252 _acceleration = new PhysicsVector();
253 float _mass = 50.0f; //This depends of avatar's dimensions
254 Matrix _startTransform = Matrix.Identity;
255 _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos);
256 Matrix _centerOfMassOffset = Matrix.Identity;
257 CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f));
258 DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
259 MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
260 _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
261
262 //The next values might change
263 float _linearDamping = 0.0f;
264 float _angularDamping = 0.0f;
265 float _friction = 0.5f;
266 float _restitution = 0.0f;
267
268 rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
269 rigidBody.ActivationState = ActivationState.DisableDeactivation;
270
271 parent_scene.ddWorld.AddRigidBody(rigidBody);
272 }
273
274 public override bool Flying
275 {
276 get
277 {
278 return flying;
279 }
280 set
281 {
282 flying = value;
283 }
284 }
285
286 public override PhysicsVector Position
287 {
288 get
289 {
290 return _position;
291 }
292 set
293 {
294 _position = value;
295 }
296 }
297
298 public override PhysicsVector Velocity
299 {
300 get
301 {
302 return _velocity;
303 }
304 set
305 {
306 _velocity = value;
307 }
308 }
309
310 public override bool Kinematic
311 {
312 get
313 {
314 return false;
315 }
316 set
317 {
318
319 }
320 }
321
322 public override Axiom.Math.Quaternion Orientation
323 {
324 get
325 {
326 return Axiom.Math.Quaternion.Identity;
327 }
328 set
329 {
330
331 }
332 }
333
334 public override PhysicsVector Acceleration
335 {
336 get
337 {
338 return _acceleration;
339 }
340
341 }
342 public void SetAcceleration(PhysicsVector accel)
343 {
344 this._acceleration = accel;
345 }
346
347 public override void AddForce(PhysicsVector force)
348 {
349
350 }
351
352 public override void SetMomentum(PhysicsVector momentum)
353 {
354
355 }
356
357 public void Move(float timeStep)
358 {
359 MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();
360 //if (this._velocity.X == 0.0f)
361 // vec.X = this.rigidBody.LinearVelocity.X; //current velocity
362 //else
363 vec.X = this._velocity.X; //overrides current velocity
364
365 //if (this._velocity.Y == 0.0f)
366 // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity
367 //else
368 vec.Y = this._velocity.Y; //overrides current velocity
369
370 float nextZVelocity;
371 //if (this._velocity.Z == 0.0f)
372 // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity
373 //else
374 nextZVelocity = this._velocity.Z; //overrides current velocity
375
376 if (flying)
377 {
378 //Antigravity with movement
379 if (this._position.Z <= BulletXScene.HeightLevel0)
380 {
381 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep;
382 }
383 //Lowgravity with movement
384 else if((this._position.Z > BulletXScene.HeightLevel0)
385 && (this._position.Z <= BulletXScene.HeightLevel1))
386 {
387 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
388 }
389 //Lowgravity with...
390 else if (this._position.Z > BulletXScene.HeightLevel1)
391 {
392 if(nextZVelocity > 0) //no movement
393 vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
394 else
395 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
396
397 }
398 }
399 else
400 {
401 vec.Z = nextZVelocity;
402 }
403 rigidBody.LinearVelocity = vec;
404 }
405
406 public void UpdatePosition()
407 {
408 this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
409 }
410
411 //This validation is very basic
412 internal void ValidateHeight(float heighmapPositionValue)
413 {
414 if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue)
415 {
416 Matrix m = rigidBody.WorldTransform;
417 MonoXnaCompactMaths.Vector3 v3 = m.Translation;
418 v3.Z = heighmapPositionValue;
419 m.Translation = v3;
420 rigidBody.WorldTransform = m;
421 }
422 }
423 }
424 /// <summary>
425 /// PhysicsActor Prim Class for BulletX
426 /// </summary>
427 public class BulletXPrim : PhysicsActor
428 {
429 private PhysicsVector _position;
430 private PhysicsVector _velocity;
431 private PhysicsVector _acceleration;
432
433 public BulletXPrim()
434 {
435 _velocity = new PhysicsVector();
436 _position = new PhysicsVector();
437 _acceleration = new PhysicsVector();
438 }
439 public override bool Flying
440 {
441 get
442 {
443 return false; //no flying prims for you
444 }
445 set
446 {
447
448 }
449 }
450 public override PhysicsVector Position
451 {
452 get
453 {
454 PhysicsVector pos = new PhysicsVector();
455 // PhysicsVector vec = this._prim.Position;
456 //pos.X = vec.X;
457 //pos.Y = vec.Y;
458 //pos.Z = vec.Z;
459 return pos;
460
461 }
462 set
463 {
464 /*PhysicsVector vec = value;
465 PhysicsVector pos = new PhysicsVector();
466 pos.X = vec.X;
467 pos.Y = vec.Y;
468 pos.Z = vec.Z;
469 this._prim.Position = pos;*/
470 }
471 }
472
473 public override PhysicsVector Velocity
474 {
475 get
476 {
477 return _velocity;
478 }
479 set
480 {
481 _velocity = value;
482 }
483 }
484
485 public override bool Kinematic
486 {
487 get
488 {
489 return false;
490 //return this._prim.Kinematic;
491 }
492 set
493 {
494 //this._prim.Kinematic = value;
495 }
496 }
497
498 public override Axiom.Math.Quaternion Orientation
499 {
500 get
501 {
502 Axiom.Math.Quaternion res = new Axiom.Math.Quaternion();
503 return res;
504 }
505 set
506 {
507
508 }
509 }
510
511 public override PhysicsVector Acceleration
512 {
513 get
514 {
515 return _acceleration;
516 }
517
518 }
519 public void SetAcceleration(PhysicsVector accel)
520 {
521 this._acceleration = accel;
522 }
523
524 public override void AddForce(PhysicsVector force)
525 {
526
527 }
528
529 public override void SetMomentum(PhysicsVector momentum)
530 {
531
532 }
533 }
534}
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