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-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXCharacter.cs361
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs861
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXPrim.cs347
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXScene.cs183
4 files changed, 891 insertions, 861 deletions
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXCharacter.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXCharacter.cs
new file mode 100644
index 0000000..fc3adac
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXCharacter.cs
@@ -0,0 +1,361 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.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 OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using Nini.Config;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using PhysXWrapper;
34using Quaternion=OpenMetaverse.Quaternion;
35using System.Reflection;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.PhysXPlugin
40{
41 public class PhysXCharacter : PhysicsActor
42 {
43 private Vector3 _position;
44 private Vector3 _velocity;
45 private Vector3 m_rotationalVelocity = Vector3.Zero;
46 private Vector3 _acceleration;
47 private NxCharacter _character;
48 private bool flying;
49 private bool iscolliding = false;
50 private float gravityAccel;
51
52 public PhysXCharacter(NxCharacter character)
53 {
54 _character = character;
55 }
56
57 public override int PhysicsActorType
58 {
59 get { return (int) ActorTypes.Agent; }
60 set { return; }
61 }
62
63 public override bool SetAlwaysRun
64 {
65 get { return false; }
66 set { return; }
67 }
68
69 public override uint LocalID
70 {
71 set { return; }
72 }
73
74 public override bool Grabbed
75 {
76 set { return; }
77 }
78
79 public override bool Selected
80 {
81 set { return; }
82 }
83
84 public override float Buoyancy
85 {
86 get { return 0f; }
87 set { return; }
88 }
89
90 public override bool FloatOnWater
91 {
92 set { return; }
93 }
94
95 public override bool IsPhysical
96 {
97 get { return false; }
98 set { return; }
99 }
100
101 public override bool ThrottleUpdates
102 {
103 get { return false; }
104 set { return; }
105 }
106
107 public override bool Flying
108 {
109 get { return flying; }
110 set { flying = value; }
111 }
112
113 public override bool IsColliding
114 {
115 get { return iscolliding; }
116 set { iscolliding = value; }
117 }
118
119 public override bool CollidingGround
120 {
121 get { return false; }
122 set { return; }
123 }
124
125 public override bool CollidingObj
126 {
127 get { return false; }
128 set { return; }
129 }
130
131 public override Vector3 RotationalVelocity
132 {
133 get { return m_rotationalVelocity; }
134 set { m_rotationalVelocity = value; }
135 }
136
137 public override bool Stopped
138 {
139 get { return false; }
140 }
141
142 public override Vector3 Position
143 {
144 get { return _position; }
145 set
146 {
147 _position = value;
148 Vec3 ps = new Vec3();
149 ps.X = value.X;
150 ps.Y = value.Y;
151 ps.Z = value.Z;
152 _character.Position = ps;
153 }
154 }
155
156 public override Vector3 Size
157 {
158 get { return Vector3.Zero; }
159 set { }
160 }
161
162 public override float Mass
163 {
164 get { return 0f; }
165 }
166
167 public override Vector3 Force
168 {
169 get { return Vector3.Zero; }
170 set { return; }
171 }
172
173 public override int VehicleType
174 {
175 get { return 0; }
176 set { return; }
177 }
178
179 public override void VehicleFloatParam(int param, float value)
180 {
181 }
182
183 public override void VehicleVectorParam(int param, Vector3 value)
184 {
185 }
186
187 public override void VehicleRotationParam(int param, Quaternion rotation)
188 {
189 }
190
191 public override void VehicleFlagsSet(int param)
192 {
193 }
194
195 public override void VehicleFlagsRemove(int param)
196 {
197 }
198
199 public override void VehicleFlags(int param, bool remove)
200 {
201 }
202
203 public override void SetVolumeDetect(int param)
204 {
205 }
206
207 public override Vector3 CenterOfMass
208 {
209 get { return Vector3.Zero; }
210 }
211
212 public override Vector3 GeometricCenter
213 {
214 get { return Vector3.Zero; }
215 }
216
217 public override Vector3 Velocity
218 {
219 get { return _velocity; }
220 set { _velocity = value; }
221 }
222
223 public override float CollisionScore
224 {
225 get { return 0f; }
226 set { }
227 }
228
229 public override bool Kinematic
230 {
231 get { return false; }
232 set { }
233 }
234
235 public override Quaternion Orientation
236 {
237 get { return Quaternion.Identity; }
238 set { }
239 }
240
241 public override Vector3 Acceleration
242 {
243 get { return _acceleration; }
244 }
245
246 public void SetAcceleration(Vector3 accel)
247 {
248 _acceleration = accel;
249 }
250
251 public override void AddForce(Vector3 force, bool pushforce)
252 {
253 }
254
255 public override Vector3 Torque
256 {
257 get { return Vector3.Zero; }
258 set { return; }
259 }
260
261 public override void AddAngularForce(Vector3 force, bool pushforce)
262 {
263 }
264
265 public override void link(PhysicsActor obj)
266 {
267 }
268
269 public override void delink()
270 {
271 }
272
273 public override void LockAngularMotion(Vector3 axis)
274 {
275 }
276
277 public override void SetMomentum(Vector3 momentum)
278 {
279 }
280
281 public void Move(float timeStep)
282 {
283 Vec3 vec = new Vec3();
284 vec.X = _velocity.X*timeStep;
285 vec.Y = _velocity.Y*timeStep;
286 if (flying)
287 {
288 vec.Z = (_velocity.Z)*timeStep;
289 }
290 else
291 {
292 gravityAccel += -9.8f;
293 vec.Z = (gravityAccel + _velocity.Z)*timeStep;
294 }
295 int res = _character.Move(vec);
296 if (res == 1)
297 {
298 gravityAccel = 0;
299 }
300 }
301
302 public override PrimitiveBaseShape Shape
303 {
304 set { return; }
305 }
306
307 public void UpdatePosition()
308 {
309 Vec3 vec = _character.Position;
310 _position.X = vec.X;
311 _position.Y = vec.Y;
312 _position.Z = vec.Z;
313 }
314
315 public override void CrossingFailure()
316 {
317 }
318
319 public override Vector3 PIDTarget { set { return; } }
320 public override bool PIDActive { set { return; } }
321 public override float PIDTau { set { return; } }
322
323 public override float PIDHoverHeight { set { return; } }
324 public override bool PIDHoverActive { set { return; } }
325 public override PIDHoverType PIDHoverType { set { return; } }
326 public override float PIDHoverTau { set { return; } }
327
328 public override Quaternion APIDTarget
329 {
330 set { return; }
331 }
332
333 public override bool APIDActive
334 {
335 set { return; }
336 }
337
338 public override float APIDStrength
339 {
340 set { return; }
341 }
342
343 public override float APIDDamping
344 {
345 set { return; }
346 }
347
348 public override void SubscribeEvents(int ms)
349 {
350
351 }
352 public override void UnSubscribeEvents()
353 {
354
355 }
356 public override bool SubscribedEvents()
357 {
358 return false;
359 }
360 }
361}
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
deleted file mode 100644
index e54065c..0000000
--- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
+++ /dev/null
@@ -1,861 +0,0 @@
1/*/*
2 * Copyright (c) Contributors, http://opensimulator.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 OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using Nini.Config;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using PhysXWrapper;
34using Quaternion=OpenMetaverse.Quaternion;
35using System.Reflection;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.PhysXPlugin
40{
41 /// <summary>
42 /// Will be the PhysX plugin but for now will be a very basic physics engine
43 /// </summary>
44 public class PhysXPlugin : IPhysicsPlugin
45 {
46 //private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
47 private PhysXScene _mScene;
48
49 public PhysXPlugin()
50 {
51 }
52
53 public bool Init()
54 {
55 return true;
56 }
57
58 public PhysicsScene GetScene(string sceneIdentifier)
59 {
60 if (_mScene == null)
61 {
62 _mScene = new PhysXScene(sceneIdentifier);
63 }
64 return (_mScene);
65 }
66
67 public string GetName()
68 {
69 return ("RealPhysX");
70 }
71
72 public void Dispose()
73 {
74 }
75 }
76
77 public class PhysXScene : PhysicsScene
78 {
79 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
80 private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
81 private List<PhysXPrim> _prims = new List<PhysXPrim>();
82 private float[] _heightMap = null;
83 private NxPhysicsSDK mySdk;
84 private NxScene scene;
85
86 // protected internal string sceneIdentifier;
87 public PhysXScene(string _sceneIdentifier)
88 {
89 //sceneIdentifier = _sceneIdentifier;
90
91 mySdk = NxPhysicsSDK.CreateSDK();
92 m_log.Info("Sdk created - now creating scene");
93 scene = mySdk.CreateScene();
94 }
95
96 public override void Initialise(IMesher meshmerizer, IConfigSource config)
97 {
98 // Does nothing right now
99 }
100 public override void Dispose()
101 {
102
103 }
104
105 public override void SetWaterLevel(float baseheight)
106 {
107
108 }
109
110 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
111 {
112 Vec3 pos = new Vec3();
113 pos.X = position.X;
114 pos.Y = position.Y;
115 pos.Z = position.Z;
116 PhysXCharacter act = new PhysXCharacter(scene.AddCharacter(pos));
117 act.Flying = isFlying;
118 act.Position = position;
119 _characters.Add(act);
120 return act;
121 }
122
123 public override void RemovePrim(PhysicsActor prim)
124 {
125 }
126
127 public override void RemoveAvatar(PhysicsActor actor)
128 {
129 }
130
131 private PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
132 {
133 Vec3 pos = new Vec3();
134 pos.X = position.X;
135 pos.Y = position.Y;
136 pos.Z = position.Z;
137 Vec3 siz = new Vec3();
138 siz.X = size.X;
139 siz.Y = size.Y;
140 siz.Z = size.Z;
141 PhysXPrim act = new PhysXPrim(scene.AddNewBox(pos, siz));
142 _prims.Add(act);
143 return act;
144 }
145
146 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
147 Vector3 size, Quaternion rotation) //To be removed
148 {
149 return AddPrimShape(primName, pbs, position, size, rotation, false);
150 }
151
152 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
153 Vector3 size, Quaternion rotation, bool isPhysical)
154 {
155 return AddPrim(position, size, rotation);
156 }
157
158 public override void AddPhysicsActorTaint(PhysicsActor prim)
159 {
160 }
161
162 public override float Simulate(float timeStep)
163 {
164 float fps = 0f;
165 try
166 {
167 foreach (PhysXCharacter actor in _characters)
168 {
169 actor.Move(timeStep);
170 }
171 scene.Simulate(timeStep);
172 scene.FetchResults();
173 scene.UpdateControllers();
174
175 foreach (PhysXCharacter actor in _characters)
176 {
177 actor.UpdatePosition();
178 }
179 }
180 catch (Exception e)
181 {
182 m_log.Error(e.Message);
183 }
184 return fps;
185 }
186
187 public override void GetResults()
188 {
189 }
190
191 public override bool IsThreaded
192 {
193 get { return (false); // for now we won't be multithreaded
194 }
195 }
196
197 public override void SetTerrain(float[] heightMap)
198 {
199 if (_heightMap != null)
200 {
201 m_log.Debug("PhysX - deleting old terrain");
202 scene.DeleteTerrain();
203 }
204 _heightMap = heightMap;
205 scene.AddTerrain(heightMap);
206 }
207
208 public override void DeleteTerrain()
209 {
210 scene.DeleteTerrain();
211 }
212
213 public override Dictionary<uint, float> GetTopColliders()
214 {
215 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
216 return returncolliders;
217 }
218
219 }
220
221 public class PhysXCharacter : PhysicsActor
222 {
223 private Vector3 _position;
224 private Vector3 _velocity;
225 private Vector3 m_rotationalVelocity = Vector3.Zero;
226 private Vector3 _acceleration;
227 private NxCharacter _character;
228 private bool flying;
229 private bool iscolliding = false;
230 private float gravityAccel;
231
232 public PhysXCharacter(NxCharacter character)
233 {
234 _character = character;
235 }
236
237 public override int PhysicsActorType
238 {
239 get { return (int) ActorTypes.Agent; }
240 set { return; }
241 }
242
243 public override bool SetAlwaysRun
244 {
245 get { return false; }
246 set { return; }
247 }
248
249 public override uint LocalID
250 {
251 set { return; }
252 }
253
254 public override bool Grabbed
255 {
256 set { return; }
257 }
258
259 public override bool Selected
260 {
261 set { return; }
262 }
263
264 public override float Buoyancy
265 {
266 get { return 0f; }
267 set { return; }
268 }
269
270 public override bool FloatOnWater
271 {
272 set { return; }
273 }
274
275 public override bool IsPhysical
276 {
277 get { return false; }
278 set { return; }
279 }
280
281 public override bool ThrottleUpdates
282 {
283 get { return false; }
284 set { return; }
285 }
286
287 public override bool Flying
288 {
289 get { return flying; }
290 set { flying = value; }
291 }
292
293 public override bool IsColliding
294 {
295 get { return iscolliding; }
296 set { iscolliding = value; }
297 }
298
299 public override bool CollidingGround
300 {
301 get { return false; }
302 set { return; }
303 }
304
305 public override bool CollidingObj
306 {
307 get { return false; }
308 set { return; }
309 }
310
311 public override Vector3 RotationalVelocity
312 {
313 get { return m_rotationalVelocity; }
314 set { m_rotationalVelocity = value; }
315 }
316
317 public override bool Stopped
318 {
319 get { return false; }
320 }
321
322 public override Vector3 Position
323 {
324 get { return _position; }
325 set
326 {
327 _position = value;
328 Vec3 ps = new Vec3();
329 ps.X = value.X;
330 ps.Y = value.Y;
331 ps.Z = value.Z;
332 _character.Position = ps;
333 }
334 }
335
336 public override Vector3 Size
337 {
338 get { return Vector3.Zero; }
339 set { }
340 }
341
342 public override float Mass
343 {
344 get { return 0f; }
345 }
346
347 public override Vector3 Force
348 {
349 get { return Vector3.Zero; }
350 set { return; }
351 }
352
353 public override int VehicleType
354 {
355 get { return 0; }
356 set { return; }
357 }
358
359 public override void VehicleFloatParam(int param, float value)
360 {
361
362 }
363
364 public override void VehicleVectorParam(int param, Vector3 value)
365 {
366
367 }
368
369 public override void VehicleRotationParam(int param, Quaternion rotation)
370 {
371
372 }
373
374 public override void VehicleFlagsSet(int flags)
375 {
376
377 }
378
379 public override void VehicleFlagsRemove(int flags)
380 {
381
382 }
383
384 public override void SetVolumeDetect(int param)
385 {
386
387 }
388
389
390 public override Vector3 CenterOfMass
391 {
392 get { return Vector3.Zero; }
393 }
394
395 public override Vector3 GeometricCenter
396 {
397 get { return Vector3.Zero; }
398 }
399
400 public override Vector3 Velocity
401 {
402 get { return _velocity; }
403 set { _velocity = value; }
404 }
405
406 public override float CollisionScore
407 {
408 get { return 0f; }
409 set { }
410 }
411
412 public override bool Kinematic
413 {
414 get { return false; }
415 set { }
416 }
417
418 public override Quaternion Orientation
419 {
420 get { return Quaternion.Identity; }
421 set { }
422 }
423
424 public override Vector3 Acceleration
425 {
426 get { return _acceleration; }
427 }
428
429 public void SetAcceleration(Vector3 accel)
430 {
431 _acceleration = accel;
432 }
433
434 public override void AddForce(Vector3 force, bool pushforce)
435 {
436 }
437 public override Vector3 Torque
438 {
439 get { return Vector3.Zero; }
440 set { return; }
441 }
442 public override void AddAngularForce(Vector3 force, bool pushforce)
443 {
444 }
445
446 public override void link(PhysicsActor obj)
447 {
448
449 }
450
451 public override void delink()
452 {
453
454 }
455
456 public override void LockAngularMotion(Vector3 axis)
457 {
458
459 }
460
461 public override void SetMomentum(Vector3 momentum)
462 {
463 }
464
465 public void Move(float timeStep)
466 {
467 Vec3 vec = new Vec3();
468 vec.X = _velocity.X*timeStep;
469 vec.Y = _velocity.Y*timeStep;
470 if (flying)
471 {
472 vec.Z = (_velocity.Z)*timeStep;
473 }
474 else
475 {
476 gravityAccel += -9.8f;
477 vec.Z = (gravityAccel + _velocity.Z)*timeStep;
478 }
479 int res = _character.Move(vec);
480 if (res == 1)
481 {
482 gravityAccel = 0;
483 }
484 }
485
486 public override PrimitiveBaseShape Shape
487 {
488 set { return; }
489 }
490
491 public void UpdatePosition()
492 {
493 Vec3 vec = _character.Position;
494 _position.X = vec.X;
495 _position.Y = vec.Y;
496 _position.Z = vec.Z;
497 }
498 public override void CrossingFailure()
499 {
500
501 }
502
503 public override Vector3 PIDTarget { set { return; } }
504 public override bool PIDActive { set { return; } }
505 public override float PIDTau { set { return; } }
506
507 public override float PIDHoverHeight { set { return; } }
508 public override bool PIDHoverActive { set { return; } }
509 public override PIDHoverType PIDHoverType { set { return; } }
510 public override float PIDHoverTau { set { return; } }
511
512 public override Quaternion APIDTarget
513 {
514 set { return; }
515 }
516
517 public override bool APIDActive
518 {
519 set { return; }
520 }
521
522 public override float APIDStrength
523 {
524 set { return; }
525 }
526
527 public override float APIDDamping
528 {
529 set { return; }
530 }
531
532
533
534 public override void SubscribeEvents(int ms)
535 {
536
537 }
538 public override void UnSubscribeEvents()
539 {
540
541 }
542 public override bool SubscribedEvents()
543 {
544 return false;
545 }
546 }
547
548
549 public class PhysXPrim : PhysicsActor
550 {
551 private Vector3 _velocity;
552 private Vector3 _acceleration;
553 private Vector3 m_rotationalVelocity;
554 private NxActor _prim;
555
556 public PhysXPrim(NxActor prim)
557 {
558 _velocity = Vector3.Zero;
559 _acceleration = Vector3.Zero;
560 _prim = prim;
561 }
562
563 public override int PhysicsActorType
564 {
565 get { return (int) ActorTypes.Prim; }
566 set { return; }
567 }
568
569 public override bool IsPhysical
570 {
571 get { return false; }
572 set { return; }
573 }
574
575 public override bool SetAlwaysRun
576 {
577 get { return false; }
578 set { return; }
579 }
580
581 public override uint LocalID
582 {
583 set { return; }
584 }
585
586 public override bool Grabbed
587 {
588 set { return; }
589 }
590
591 public override bool Selected
592 {
593 set { return; }
594 }
595
596 public override float Buoyancy
597 {
598 get { return 0f; }
599 set { return; }
600 }
601
602 public override bool FloatOnWater
603 {
604 set { return; }
605 }
606
607 public override bool ThrottleUpdates
608 {
609 get { return false; }
610 set { return; }
611 }
612
613 public override Vector3 RotationalVelocity
614 {
615 get { return m_rotationalVelocity; }
616 set { m_rotationalVelocity = value; }
617 }
618
619 public override bool Flying
620 {
621 get { return false; //no flying prims for you
622 }
623 set { }
624 }
625
626 public override bool IsColliding
627 {
628 get { return false; }
629 set { }
630 }
631
632 public override bool CollidingGround
633 {
634 get { return false; }
635 set { return; }
636 }
637
638 public override bool CollidingObj
639 {
640 get { return false; }
641 set { return; }
642 }
643
644 public override bool Stopped
645 {
646 get { return false; }
647 }
648
649 public override Vector3 Position
650 {
651 get
652 {
653 Vector3 pos = Vector3.Zero;
654 Vec3 vec = _prim.Position;
655 pos.X = vec.X;
656 pos.Y = vec.Y;
657 pos.Z = vec.Z;
658 return pos;
659 }
660 set
661 {
662 Vector3 vec = value;
663 Vec3 pos = new Vec3();
664 pos.X = vec.X;
665 pos.Y = vec.Y;
666 pos.Z = vec.Z;
667 _prim.Position = pos;
668 }
669 }
670
671 public override PrimitiveBaseShape Shape
672 {
673 set { return; }
674 }
675
676 public override Vector3 Velocity
677 {
678 get { return _velocity; }
679 set { _velocity = value; }
680 }
681
682 public override Vector3 Torque
683 {
684 get { return Vector3.Zero; }
685 set { return; }
686 }
687
688 public override float CollisionScore
689 {
690 get { return 0f; }
691 set { }
692 }
693
694 public override bool Kinematic
695 {
696 get { return _prim.Kinematic; }
697 set { _prim.Kinematic = value; }
698 }
699
700 public override Quaternion Orientation
701 {
702 get
703 {
704 Quaternion res;
705 PhysXWrapper.Quaternion quat = _prim.GetOrientation();
706 res.W = quat.W;
707 res.X = quat.X;
708 res.Y = quat.Y;
709 res.Z = quat.Z;
710 return res;
711 }
712 set { }
713 }
714
715 public override Vector3 Acceleration
716 {
717 get { return _acceleration; }
718 }
719
720 public void SetAcceleration(Vector3 accel)
721 {
722 _acceleration = accel;
723 }
724
725 public override void AddForce(Vector3 force, bool pushforce)
726 {
727 }
728
729 public override void AddAngularForce(Vector3 force, bool pushforce)
730 {
731 }
732
733 public override void SetMomentum(Vector3 momentum)
734 {
735 }
736
737 public override Vector3 Size
738 {
739 get { return Vector3.Zero; }
740 set { }
741 }
742
743 public override void link(PhysicsActor obj)
744 {
745 }
746
747 public override void delink()
748 {
749 }
750
751 public override void LockAngularMotion(Vector3 axis)
752 {
753
754 }
755
756 public override float Mass
757 {
758 get { return 0f; }
759 }
760
761 public override Vector3 Force
762 {
763 get { return Vector3.Zero; }
764 set { return; }
765 }
766
767 public override int VehicleType
768 {
769 get { return 0; }
770 set { return; }
771 }
772
773 public override void VehicleFloatParam(int param, float value)
774 {
775
776 }
777
778 public override void VehicleVectorParam(int param, Vector3 value)
779 {
780
781 }
782
783 public override void VehicleRotationParam(int param, Quaternion rotation)
784 {
785
786 }
787
788 public override void VehicleFlagsSet(int flags)
789 {
790
791 }
792
793 public override void VehicleFlagsRemove(int flags)
794 {
795
796 }
797
798 public override void SetVolumeDetect(int param)
799 {
800
801 }
802
803 public override Vector3 CenterOfMass
804 {
805 get { return Vector3.Zero; }
806 }
807
808 public override Vector3 GeometricCenter
809 {
810 get { return Vector3.Zero; }
811 }
812
813 public override void CrossingFailure()
814 {
815 }
816
817 public override Vector3 PIDTarget { set { return; } }
818 public override bool PIDActive { set { return; } }
819 public override float PIDTau { set { return; } }
820
821 public override float PIDHoverHeight { set { return; } }
822 public override bool PIDHoverActive { set { return; } }
823 public override PIDHoverType PIDHoverType { set { return; } }
824 public override float PIDHoverTau { set { return; } }
825
826 public override Quaternion APIDTarget
827 {
828 set { return; }
829 }
830
831 public override bool APIDActive
832 {
833 set { return; }
834 }
835
836 public override float APIDStrength
837 {
838 set { return; }
839 }
840
841 public override float APIDDamping
842 {
843 set { return; }
844 }
845
846
847
848 public override void SubscribeEvents(int ms)
849 {
850
851 }
852 public override void UnSubscribeEvents()
853 {
854
855 }
856 public override bool SubscribedEvents()
857 {
858 return false;
859 }
860 }
861}
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPrim.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPrim.cs
new file mode 100644
index 0000000..dc70c80
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPrim.cs
@@ -0,0 +1,347 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.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 OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using Nini.Config;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using PhysXWrapper;
34using Quaternion=OpenMetaverse.Quaternion;
35using System.Reflection;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.PhysXPlugin
40{
41 public class PhysXPrim : PhysicsActor
42 {
43 private Vector3 _velocity;
44 private Vector3 _acceleration;
45 private Vector3 m_rotationalVelocity;
46 private NxActor _prim;
47
48 public PhysXPrim(NxActor prim)
49 {
50 _velocity = Vector3.Zero;
51 _acceleration = Vector3.Zero;
52 _prim = prim;
53 }
54
55 public override int PhysicsActorType
56 {
57 get { return (int) ActorTypes.Prim; }
58 set { return; }
59 }
60
61 public override bool IsPhysical
62 {
63 get { return false; }
64 set { return; }
65 }
66
67 public override bool SetAlwaysRun
68 {
69 get { return false; }
70 set { return; }
71 }
72
73 public override uint LocalID
74 {
75 set { return; }
76 }
77
78 public override bool Grabbed
79 {
80 set { return; }
81 }
82
83 public override bool Selected
84 {
85 set { return; }
86 }
87
88 public override float Buoyancy
89 {
90 get { return 0f; }
91 set { return; }
92 }
93
94 public override bool FloatOnWater
95 {
96 set { return; }
97 }
98
99 public override bool ThrottleUpdates
100 {
101 get { return false; }
102 set { return; }
103 }
104
105 public override Vector3 RotationalVelocity
106 {
107 get { return m_rotationalVelocity; }
108 set { m_rotationalVelocity = value; }
109 }
110
111 public override bool Flying
112 {
113 get { return false; //no flying prims for you
114 }
115 set { }
116 }
117
118 public override bool IsColliding
119 {
120 get { return false; }
121 set { }
122 }
123
124 public override bool CollidingGround
125 {
126 get { return false; }
127 set { return; }
128 }
129
130 public override bool CollidingObj
131 {
132 get { return false; }
133 set { return; }
134 }
135
136 public override bool Stopped
137 {
138 get { return false; }
139 }
140
141 public override Vector3 Position
142 {
143 get
144 {
145 Vector3 pos = Vector3.Zero;
146 Vec3 vec = _prim.Position;
147 pos.X = vec.X;
148 pos.Y = vec.Y;
149 pos.Z = vec.Z;
150 return pos;
151 }
152 set
153 {
154 Vector3 vec = value;
155 Vec3 pos = new Vec3();
156 pos.X = vec.X;
157 pos.Y = vec.Y;
158 pos.Z = vec.Z;
159 _prim.Position = pos;
160 }
161 }
162
163 public override PrimitiveBaseShape Shape
164 {
165 set { return; }
166 }
167
168 public override Vector3 Velocity
169 {
170 get { return _velocity; }
171 set { _velocity = value; }
172 }
173
174 public override Vector3 Torque
175 {
176 get { return Vector3.Zero; }
177 set { return; }
178 }
179
180 public override float CollisionScore
181 {
182 get { return 0f; }
183 set { }
184 }
185
186 public override bool Kinematic
187 {
188 get { return _prim.Kinematic; }
189 set { _prim.Kinematic = value; }
190 }
191
192 public override Quaternion Orientation
193 {
194 get
195 {
196 Quaternion res;
197 PhysXWrapper.Quaternion quat = _prim.GetOrientation();
198 res.W = quat.W;
199 res.X = quat.X;
200 res.Y = quat.Y;
201 res.Z = quat.Z;
202 return res;
203 }
204 set { }
205 }
206
207 public override Vector3 Acceleration
208 {
209 get { return _acceleration; }
210 }
211
212 public void SetAcceleration(Vector3 accel)
213 {
214 _acceleration = accel;
215 }
216
217 public override void AddForce(Vector3 force, bool pushforce)
218 {
219 }
220
221 public override void AddAngularForce(Vector3 force, bool pushforce)
222 {
223 }
224
225 public override void SetMomentum(Vector3 momentum)
226 {
227 }
228
229 public override Vector3 Size
230 {
231 get { return Vector3.Zero; }
232 set { }
233 }
234
235 public override void link(PhysicsActor obj)
236 {
237 }
238
239 public override void delink()
240 {
241 }
242
243 public override void LockAngularMotion(Vector3 axis)
244 {
245
246 }
247
248 public override float Mass
249 {
250 get { return 0f; }
251 }
252
253 public override Vector3 Force
254 {
255 get { return Vector3.Zero; }
256 set { return; }
257 }
258
259 public override int VehicleType
260 {
261 get { return 0; }
262 set { return; }
263 }
264
265 public override void VehicleFloatParam(int param, float value)
266 {
267
268 }
269
270 public override void VehicleVectorParam(int param, Vector3 value)
271 {
272
273 }
274
275 public override void VehicleRotationParam(int param, Quaternion rotation)
276 {
277
278 }
279
280 public override void VehicleFlagsSet(int param) { }
281 public override void VehicleFlagsRemove(int param) { }
282 public override void VehicleFlags(int param, bool remove) { }
283
284 public override void SetVolumeDetect(int param)
285 {
286
287 }
288
289 public override Vector3 CenterOfMass
290 {
291 get { return Vector3.Zero; }
292 }
293
294 public override Vector3 GeometricCenter
295 {
296 get { return Vector3.Zero; }
297 }
298
299 public override void CrossingFailure()
300 {
301 }
302
303 public override Vector3 PIDTarget { set { return; } }
304 public override bool PIDActive { set { return; } }
305 public override float PIDTau { set { return; } }
306
307 public override float PIDHoverHeight { set { return; } }
308 public override bool PIDHoverActive { set { return; } }
309 public override PIDHoverType PIDHoverType { set { return; } }
310 public override float PIDHoverTau { set { return; } }
311
312 public override Quaternion APIDTarget
313 {
314 set { return; }
315 }
316
317 public override bool APIDActive
318 {
319 set { return; }
320 }
321
322 public override float APIDStrength
323 {
324 set { return; }
325 }
326
327 public override float APIDDamping
328 {
329 set { return; }
330 }
331
332
333
334 public override void SubscribeEvents(int ms)
335 {
336
337 }
338 public override void UnSubscribeEvents()
339 {
340
341 }
342 public override bool SubscribedEvents()
343 {
344 return false;
345 }
346 }
347}
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXScene.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXScene.cs
new file mode 100644
index 0000000..4de4b01
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXScene.cs
@@ -0,0 +1,183 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.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 OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using Nini.Config;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using PhysXWrapper;
34using Quaternion=OpenMetaverse.Quaternion;
35using System.Reflection;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.PhysXPlugin
40{
41 public class PhysXScene : PhysicsScene
42 {
43 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
44 private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
45 private List<PhysXPrim> _prims = new List<PhysXPrim>();
46 private float[] _heightMap = null;
47 private NxPhysicsSDK mySdk;
48 private NxScene scene;
49
50 // protected internal string sceneIdentifier;
51 public PhysXScene(string _sceneIdentifier)
52 {
53 //sceneIdentifier = _sceneIdentifier;
54
55 mySdk = NxPhysicsSDK.CreateSDK();
56 m_log.Info("Sdk created - now creating scene");
57 scene = mySdk.CreateScene();
58 }
59
60 public override void Initialise(IMesher meshmerizer, IConfigSource config)
61 {
62 // Does nothing right now
63 }
64 public override void Dispose()
65 {
66
67 }
68
69 public override void SetWaterLevel(float baseheight)
70 {
71
72 }
73
74 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
75 {
76 Vec3 pos = new Vec3();
77 pos.X = position.X;
78 pos.Y = position.Y;
79 pos.Z = position.Z;
80 PhysXCharacter act = new PhysXCharacter(scene.AddCharacter(pos));
81 act.Flying = isFlying;
82 act.Position = position;
83 _characters.Add(act);
84 return act;
85 }
86
87 public override void RemovePrim(PhysicsActor prim)
88 {
89 }
90
91 public override void RemoveAvatar(PhysicsActor actor)
92 {
93 }
94
95 private PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
96 {
97 Vec3 pos = new Vec3();
98 pos.X = position.X;
99 pos.Y = position.Y;
100 pos.Z = position.Z;
101 Vec3 siz = new Vec3();
102 siz.X = size.X;
103 siz.Y = size.Y;
104 siz.Z = size.Z;
105 PhysXPrim act = new PhysXPrim(scene.AddNewBox(pos, siz));
106 _prims.Add(act);
107 return act;
108 }
109
110 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
111 Vector3 size, Quaternion rotation) //To be removed
112 {
113 return AddPrimShape(primName, pbs, position, size, rotation, false);
114 }
115
116 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
117 Vector3 size, Quaternion rotation, bool isPhysical)
118 {
119 return AddPrim(position, size, rotation);
120 }
121
122 public override void AddPhysicsActorTaint(PhysicsActor prim)
123 {
124 }
125
126 public override float Simulate(float timeStep)
127 {
128 float fps = 0f;
129 try
130 {
131 foreach (PhysXCharacter actor in _characters)
132 {
133 actor.Move(timeStep);
134 }
135 scene.Simulate(timeStep);
136 scene.FetchResults();
137 scene.UpdateControllers();
138
139 foreach (PhysXCharacter actor in _characters)
140 {
141 actor.UpdatePosition();
142 }
143 }
144 catch (Exception e)
145 {
146 m_log.Error(e.Message);
147 }
148 return fps;
149 }
150
151 public override void GetResults()
152 {
153 }
154
155 public override bool IsThreaded
156 {
157 // for now we won't be multithreaded
158 get { return (false); }
159 }
160
161 public override void SetTerrain(float[] heightMap)
162 {
163 if (_heightMap != null)
164 {
165 m_log.Debug("PhysX - deleting old terrain");
166 scene.DeleteTerrain();
167 }
168 _heightMap = heightMap;
169 scene.AddTerrain(heightMap);
170 }
171
172 public override void DeleteTerrain()
173 {
174 scene.DeleteTerrain();
175 }
176
177 public override Dictionary<uint, float> GetTopColliders()
178 {
179 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
180 return returncolliders;
181 }
182 }
183}
generated by cgit v1.1 at 2024-09-18 05:30:57 +0000