diff options
Diffstat (limited to 'OpenSim/Region/Physics/PhysXPlugin')
-rw-r--r-- | OpenSim/Region/Physics/PhysXPlugin/PhysXCharacter.cs | 361 | ||||
-rw-r--r-- | OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs | 861 | ||||
-rw-r--r-- | OpenSim/Region/Physics/PhysXPlugin/PhysXPrim.cs | 347 | ||||
-rw-r--r-- | OpenSim/Region/Physics/PhysXPlugin/PhysXScene.cs | 183 |
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 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using Nini.Config; | ||
31 | using OpenSim.Framework; | ||
32 | using OpenSim.Region.Physics.Manager; | ||
33 | using PhysXWrapper; | ||
34 | using Quaternion=OpenMetaverse.Quaternion; | ||
35 | using System.Reflection; | ||
36 | using log4net; | ||
37 | using OpenMetaverse; | ||
38 | |||
39 | namespace 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 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using Nini.Config; | ||
31 | using OpenSim.Framework; | ||
32 | using OpenSim.Region.Physics.Manager; | ||
33 | using PhysXWrapper; | ||
34 | using Quaternion=OpenMetaverse.Quaternion; | ||
35 | using System.Reflection; | ||
36 | using log4net; | ||
37 | using OpenMetaverse; | ||
38 | |||
39 | namespace 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 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using Nini.Config; | ||
31 | using OpenSim.Framework; | ||
32 | using OpenSim.Region.Physics.Manager; | ||
33 | using PhysXWrapper; | ||
34 | using Quaternion=OpenMetaverse.Quaternion; | ||
35 | using System.Reflection; | ||
36 | using log4net; | ||
37 | using OpenMetaverse; | ||
38 | |||
39 | namespace 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 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using Nini.Config; | ||
31 | using OpenSim.Framework; | ||
32 | using OpenSim.Region.Physics.Manager; | ||
33 | using PhysXWrapper; | ||
34 | using Quaternion=OpenMetaverse.Quaternion; | ||
35 | using System.Reflection; | ||
36 | using log4net; | ||
37 | using OpenMetaverse; | ||
38 | |||
39 | namespace 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 | } | ||