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-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs294
-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/OpenSim.Region.Physics.BasicPhysicsPlugin.csproj93
-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/OpenSim.Region.Physics.BasicPhysicsPlugin.dll.build42
-rw-r--r--OpenSim/Region/Physics/Manager/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/Manager/OpenSim.Region.Physics.Manager.csproj112
-rw-r--r--OpenSim/Region/Physics/Manager/OpenSim.Region.Physics.Manager.dll.build47
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsActor.cs161
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsManager.cs117
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsScene.cs113
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsVector.cs54
-rw-r--r--OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OdePlugin.cs456
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj97
-rw-r--r--OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.dll.build43
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs58
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj97
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.dll.build43
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs424
19 files changed, 2425 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..177c49d
--- /dev/null
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System.Reflection;
29using System.Runtime.CompilerServices;
30using System.Runtime.InteropServices;
31
32// Information about this assembly is defined by the following
33// attributes.
34//
35// change them to the information which is associated with the assembly
36// you compile.
37
38[assembly: AssemblyTitle("PhysXplugin")]
39[assembly: AssemblyDescription("")]
40[assembly: AssemblyConfiguration("")]
41[assembly: AssemblyCompany("")]
42[assembly: AssemblyProduct("PhysXplugin")]
43[assembly: AssemblyCopyright("")]
44[assembly: AssemblyTrademark("")]
45[assembly: AssemblyCulture("")]
46
47// This sets the default COM visibility of types in the assembly to invisible.
48// If you need to expose a type to COM, use [ComVisible(true)] on that type.
49[assembly: ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly: AssemblyVersion("1.0.*")]
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
new file mode 100644
index 0000000..dcb8f3b
--- /dev/null
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
@@ -0,0 +1,294 @@
1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System;
29using System.Collections.Generic;
30using OpenSim.Physics.Manager;
31
32namespace OpenSim.Region.Physics.BasicPhysicsPlugin
33{
34 /// <summary>
35 /// Will be the PhysX plugin but for now will be a very basic physics engine
36 /// </summary>
37 public class BasicPhysicsPlugin : IPhysicsPlugin
38 {
39 private BasicScene _mScene;
40
41 public BasicPhysicsPlugin()
42 {
43
44 }
45
46 public bool Init()
47 {
48 return true;
49 }
50
51 public PhysicsScene GetScene()
52 {
53 return new BasicScene();
54 }
55
56 public string GetName()
57 {
58 return("basicphysics");
59 }
60
61 public void Dispose()
62 {
63
64 }
65 }
66
67 public class BasicScene :PhysicsScene
68 {
69 private List<BasicActor> _actors = new List<BasicActor>();
70 private float[] _heightMap;
71
72 public BasicScene()
73 {
74
75 }
76
77 public override PhysicsActor AddAvatar(PhysicsVector position)
78 {
79 BasicActor act = new BasicActor();
80 act.Position = position;
81 _actors.Add(act);
82 return act;
83 }
84
85 public override void RemoveAvatar(PhysicsActor actor)
86 {
87 BasicActor act = (BasicActor)actor;
88 if(_actors.Contains(act))
89 {
90 _actors.Remove(act);
91 }
92
93 }
94
95 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
96 {
97 return null;
98 }
99
100 public override void Simulate(float timeStep)
101 {
102 foreach (BasicActor actor in _actors)
103 {
104 actor.Position.X = actor.Position.X + (actor.Velocity.X * timeStep);
105 actor.Position.Y = actor.Position.Y + (actor.Velocity.Y * timeStep);
106 actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep);
107 /*if(actor.Flying)
108 {
109 actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep);
110 }
111 else
112 {
113 actor.Position.Z = actor.Position.Z + ((-9.8f + actor.Velocity.Z) * timeStep);
114 }
115 if(actor.Position.Z < (_heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1))
116 {*/
117 if ((actor.Position.Y > 0 && actor.Position.Y < 256) && (actor.Position.X > 0 && actor.Position.X < 256))
118 {
119 actor.Position.Z = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X] + 1;
120 }
121 else
122 {
123 if (actor.Position.Y < 0)
124 {
125 actor.Position.Y = 0;
126 }
127 else if (actor.Position.Y > 256)
128 {
129 actor.Position.Y = 256;
130 }
131
132 if (actor.Position.X < 0)
133 {
134 actor.Position.X = 0;
135 }
136 if (actor.Position.X > 256)
137 {
138 actor.Position.X = 256;
139 }
140 }
141 //}
142
143
144
145 // This code needs sorting out - border crossings etc
146/* if(actor.Position.X<0)
147 {
148 ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z));
149 actor.Position.X = 0;
150 actor.Velocity.X = 0;
151 }
152 if(actor.Position.Y < 0)
153 {
154 ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z));
155 actor.Position.Y = 0;
156 actor.Velocity.Y = 0;
157 }
158 if(actor.Position.X > 255)
159 {
160 ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z));
161 actor.Position.X = 255;
162 actor.Velocity.X = 0;
163 }
164 if(actor.Position.Y > 255)
165 {
166 ControllingClient.CrossSimBorder(new LLVector3(this.Position.X,this.Position.Y,this.Position.Z));
167 actor.Position.Y = 255;
168 actor.Velocity.X = 0;
169 }*/
170 }
171 }
172
173 public override void GetResults()
174 {
175
176 }
177
178 public override bool IsThreaded
179 {
180 get
181 {
182 return(false); // for now we won't be multithreaded
183 }
184 }
185
186 public override void SetTerrain(float[] heightMap)
187 {
188 this._heightMap = heightMap;
189 }
190
191 public override void DeleteTerrain()
192 {
193
194 }
195 }
196
197 public class BasicActor : PhysicsActor
198 {
199 private PhysicsVector _position;
200 private PhysicsVector _velocity;
201 private PhysicsVector _acceleration;
202 private bool flying;
203 public BasicActor()
204 {
205 _velocity = new PhysicsVector();
206 _position = new PhysicsVector();
207 _acceleration = new PhysicsVector();
208 }
209
210 public override bool Flying
211 {
212 get
213 {
214 return false;
215 }
216 set
217 {
218 flying= value;
219 }
220 }
221
222 public override PhysicsVector Position
223 {
224 get
225 {
226 return _position;
227 }
228 set
229 {
230 _position = value;
231 }
232 }
233
234 public override PhysicsVector Velocity
235 {
236 get
237 {
238 return _velocity;
239 }
240 set
241 {
242 _velocity = value;
243 }
244 }
245
246 public override Axiom.MathLib.Quaternion Orientation
247 {
248 get
249 {
250 return Axiom.MathLib.Quaternion.Identity;
251 }
252 set
253 {
254
255 }
256 }
257
258 public override PhysicsVector Acceleration
259 {
260 get
261 {
262 return _acceleration;
263 }
264
265 }
266
267 public override bool Kinematic
268 {
269 get
270 {
271 return true;
272 }
273 set
274 {
275
276 }
277 }
278 public void SetAcceleration (PhysicsVector accel)
279 {
280 this._acceleration = accel;
281 }
282
283 public override void AddForce(PhysicsVector force)
284 {
285
286 }
287
288 public override void SetMomentum(PhysicsVector momentum)
289 {
290
291 }
292 }
293
294}
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/OpenSim.Region.Physics.BasicPhysicsPlugin.csproj b/OpenSim/Region/Physics/BasicPhysicsPlugin/OpenSim.Region.Physics.BasicPhysicsPlugin.csproj
new file mode 100644
index 0000000..7dad533
--- /dev/null
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/OpenSim.Region.Physics.BasicPhysicsPlugin.csproj
@@ -0,0 +1,93 @@
1<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <ProjectType>Local</ProjectType>
4 <ProductVersion>8.0.50727</ProductVersion>
5 <SchemaVersion>2.0</SchemaVersion>
6 <ProjectGuid>{15B4FEF3-0000-0000-0000-000000000000}</ProjectGuid>
7 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
8 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
9 <ApplicationIcon></ApplicationIcon>
10 <AssemblyKeyContainerName>
11 </AssemblyKeyContainerName>
12 <AssemblyName>OpenSim.Region.Physics.BasicPhysicsPlugin</AssemblyName>
13 <DefaultClientScript>JScript</DefaultClientScript>
14 <DefaultHTMLPageLayout>Grid</DefaultHTMLPageLayout>
15 <DefaultTargetSchema>IE50</DefaultTargetSchema>
16 <DelaySign>false</DelaySign>
17 <OutputType>Library</OutputType>
18 <AppDesignerFolder></AppDesignerFolder>
19 <RootNamespace>OpenSim.Region.Physics.BasicPhysicsPlugin</RootNamespace>
20 <StartupObject></StartupObject>
21 <FileUpgradeFlags>
22 </FileUpgradeFlags>
23 </PropertyGroup>
24 <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
25 <AllowUnsafeBlocks>False</AllowUnsafeBlocks>
26 <BaseAddress>285212672</BaseAddress>
27 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
28 <ConfigurationOverrideFile>
29 </ConfigurationOverrideFile>
30 <DefineConstants>TRACE;DEBUG</DefineConstants>
31 <DocumentationFile></DocumentationFile>
32 <DebugSymbols>True</DebugSymbols>
33 <FileAlignment>4096</FileAlignment>
34 <Optimize>False</Optimize>
35 <OutputPath>..\..\..\..\bin\Physics\</OutputPath>
36 <RegisterForComInterop>False</RegisterForComInterop>
37 <RemoveIntegerChecks>False</RemoveIntegerChecks>
38 <TreatWarningsAsErrors>False</TreatWarningsAsErrors>
39 <WarningLevel>4</WarningLevel>
40 <NoWarn></NoWarn>
41 </PropertyGroup>
42 <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
43 <AllowUnsafeBlocks>False</AllowUnsafeBlocks>
44 <BaseAddress>285212672</BaseAddress>
45 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
46 <ConfigurationOverrideFile>
47 </ConfigurationOverrideFile>
48 <DefineConstants>TRACE</DefineConstants>
49 <DocumentationFile></DocumentationFile>
50 <DebugSymbols>False</DebugSymbols>
51 <FileAlignment>4096</FileAlignment>
52 <Optimize>True</Optimize>
53 <OutputPath>..\..\..\..\bin\Physics\</OutputPath>
54 <RegisterForComInterop>False</RegisterForComInterop>
55 <RemoveIntegerChecks>False</RemoveIntegerChecks>
56 <TreatWarningsAsErrors>False</TreatWarningsAsErrors>
57 <WarningLevel>4</WarningLevel>
58 <NoWarn></NoWarn>
59 </PropertyGroup>
60 <ItemGroup>
61 <Reference Include="Axiom.MathLib.dll" >
62 <HintPath>..\..\..\..\bin\Axiom.MathLib.dll</HintPath>
63 <Private>False</Private>
64 </Reference>
65 <Reference Include="System" >
66 <HintPath>System.dll</HintPath>
67 <Private>False</Private>
68 </Reference>
69 </ItemGroup>
70 <ItemGroup>
71 <ProjectReference Include="..\Manager\OpenSim.Region.Physics.Manager.csproj">
72 <Name>OpenSim.Region.Physics.Manager</Name>
73 <Project>{F4FF31EB-0000-0000-0000-000000000000}</Project>
74 <Package>{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</Package>
75 <Private>False</Private>
76 </ProjectReference>
77 </ItemGroup>
78 <ItemGroup>
79 <Compile Include="AssemblyInfo.cs">
80 <SubType>Code</SubType>
81 </Compile>
82 <Compile Include="BasicPhysicsPlugin.cs">
83 <SubType>Code</SubType>
84 </Compile>
85 </ItemGroup>
86 <Import Project="$(MSBuildBinPath)\Microsoft.CSHARP.Targets" />
87 <PropertyGroup>
88 <PreBuildEvent>
89 </PreBuildEvent>
90 <PostBuildEvent>
91 </PostBuildEvent>
92 </PropertyGroup>
93</Project>
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/OpenSim.Region.Physics.BasicPhysicsPlugin.dll.build b/OpenSim/Region/Physics/BasicPhysicsPlugin/OpenSim.Region.Physics.BasicPhysicsPlugin.dll.build
new file mode 100644
index 0000000..6cf26ca
--- /dev/null
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/OpenSim.Region.Physics.BasicPhysicsPlugin.dll.build
@@ -0,0 +1,42 @@
1<?xml version="1.0" ?>
2<project name="OpenSim.Region.Physics.BasicPhysicsPlugin" default="build">
3 <target name="build">
4 <echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
5 <mkdir dir="${project::get-base-directory()}/${build.dir}" />
6 <copy todir="${project::get-base-directory()}/${build.dir}">
7 <fileset basedir="${project::get-base-directory()}">
8 </fileset>
9 </copy>
10 <csc target="library" debug="${build.debug}" unsafe="False" define="TRACE;DEBUG" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
11 <resources prefix="OpenSim.Region.Physics.BasicPhysicsPlugin" dynamicprefix="true" >
12 </resources>
13 <sources failonempty="true">
14 <include name="AssemblyInfo.cs" />
15 <include name="BasicPhysicsPlugin.cs" />
16 </sources>
17 <references basedir="${project::get-base-directory()}">
18 <lib>
19 <include name="${project::get-base-directory()}" />
20 <include name="${project::get-base-directory()}/${build.dir}" />
21 </lib>
22 <include name="../../../../bin/Axiom.MathLib.dll" />
23 <include name="../../../../bin/OpenSim.Region.Physics.Manager.dll" />
24 <include name="System.dll" />
25 </references>
26 </csc>
27 <echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../../../bin/Physics/" />
28 <mkdir dir="${project::get-base-directory()}/../../../../bin/Physics/"/>
29 <copy todir="${project::get-base-directory()}/../../../../bin/Physics/">
30 <fileset basedir="${project::get-base-directory()}/${build.dir}/" >
31 <include name="*.dll"/>
32 <include name="*.exe"/>
33 </fileset>
34 </copy>
35 </target>
36 <target name="clean">
37 <delete dir="${bin.dir}" failonerror="false" />
38 <delete dir="${obj.dir}" failonerror="false" />
39 </target>
40 <target name="doc" description="Creates documentation.">
41 </target>
42</project>
diff --git a/OpenSim/Region/Physics/Manager/AssemblyInfo.cs b/OpenSim/Region/Physics/Manager/AssemblyInfo.cs
new file mode 100644
index 0000000..132f64a
--- /dev/null
+++ b/OpenSim/Region/Physics/Manager/AssemblyInfo.cs
@@ -0,0 +1,58 @@
1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System.Reflection;
29using System.Runtime.CompilerServices;
30using System.Runtime.InteropServices;
31
32// Information about this assembly is defined by the following
33// attributes.
34//
35// change them to the information which is associated with the assembly
36// you compile.
37
38[assembly: AssemblyTitle("PhysicsManager")]
39[assembly: AssemblyDescription("")]
40[assembly: AssemblyConfiguration("")]
41[assembly: AssemblyCompany("")]
42[assembly: AssemblyProduct("PhysicsManager")]
43[assembly: AssemblyCopyright("")]
44[assembly: AssemblyTrademark("")]
45[assembly: AssemblyCulture("")]
46
47// This sets the default COM visibility of types in the assembly to invisible.
48// If you need to expose a type to COM, use [ComVisible(true)] on that type.
49[assembly: ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly: AssemblyVersion("1.0.*")]
diff --git a/OpenSim/Region/Physics/Manager/OpenSim.Region.Physics.Manager.csproj b/OpenSim/Region/Physics/Manager/OpenSim.Region.Physics.Manager.csproj
new file mode 100644
index 0000000..f340400
--- /dev/null
+++ b/OpenSim/Region/Physics/Manager/OpenSim.Region.Physics.Manager.csproj
@@ -0,0 +1,112 @@
1<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <ProjectType>Local</ProjectType>
4 <ProductVersion>8.0.50727</ProductVersion>
5 <SchemaVersion>2.0</SchemaVersion>
6 <ProjectGuid>{F4FF31EB-0000-0000-0000-000000000000}</ProjectGuid>
7 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
8 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
9 <ApplicationIcon></ApplicationIcon>
10 <AssemblyKeyContainerName>
11 </AssemblyKeyContainerName>
12 <AssemblyName>OpenSim.Region.Physics.Manager</AssemblyName>
13 <DefaultClientScript>JScript</DefaultClientScript>
14 <DefaultHTMLPageLayout>Grid</DefaultHTMLPageLayout>
15 <DefaultTargetSchema>IE50</DefaultTargetSchema>
16 <DelaySign>false</DelaySign>
17 <OutputType>Library</OutputType>
18 <AppDesignerFolder></AppDesignerFolder>
19 <RootNamespace>OpenSim.Region.Physics.Manager</RootNamespace>
20 <StartupObject></StartupObject>
21 <FileUpgradeFlags>
22 </FileUpgradeFlags>
23 </PropertyGroup>
24 <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
25 <AllowUnsafeBlocks>False</AllowUnsafeBlocks>
26 <BaseAddress>285212672</BaseAddress>
27 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
28 <ConfigurationOverrideFile>
29 </ConfigurationOverrideFile>
30 <DefineConstants>TRACE;DEBUG</DefineConstants>
31 <DocumentationFile></DocumentationFile>
32 <DebugSymbols>True</DebugSymbols>
33 <FileAlignment>4096</FileAlignment>
34 <Optimize>False</Optimize>
35 <OutputPath>..\..\..\..\bin\</OutputPath>
36 <RegisterForComInterop>False</RegisterForComInterop>
37 <RemoveIntegerChecks>False</RemoveIntegerChecks>
38 <TreatWarningsAsErrors>False</TreatWarningsAsErrors>
39 <WarningLevel>4</WarningLevel>
40 <NoWarn></NoWarn>
41 </PropertyGroup>
42 <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
43 <AllowUnsafeBlocks>False</AllowUnsafeBlocks>
44 <BaseAddress>285212672</BaseAddress>
45 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
46 <ConfigurationOverrideFile>
47 </ConfigurationOverrideFile>
48 <DefineConstants>TRACE</DefineConstants>
49 <DocumentationFile></DocumentationFile>
50 <DebugSymbols>False</DebugSymbols>
51 <FileAlignment>4096</FileAlignment>
52 <Optimize>True</Optimize>
53 <OutputPath>..\..\..\..\bin\</OutputPath>
54 <RegisterForComInterop>False</RegisterForComInterop>
55 <RemoveIntegerChecks>False</RemoveIntegerChecks>
56 <TreatWarningsAsErrors>False</TreatWarningsAsErrors>
57 <WarningLevel>4</WarningLevel>
58 <NoWarn></NoWarn>
59 </PropertyGroup>
60 <ItemGroup>
61 <Reference Include="Axiom.MathLib.dll" >
62 <HintPath>..\..\..\..\bin\Axiom.MathLib.dll</HintPath>
63 <Private>False</Private>
64 </Reference>
65 <Reference Include="System" >
66 <HintPath>System.dll</HintPath>
67 <Private>False</Private>
68 </Reference>
69 <Reference Include="System.Xml" >
70 <HintPath>System.Xml.dll</HintPath>
71 <Private>False</Private>
72 </Reference>
73 </ItemGroup>
74 <ItemGroup>
75 <ProjectReference Include="..\..\..\Framework\General\OpenSim.Framework.csproj">
76 <Name>OpenSim.Framework</Name>
77 <Project>{8ACA2445-0000-0000-0000-000000000000}</Project>
78 <Package>{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</Package>
79 <Private>False</Private>
80 </ProjectReference>
81 <ProjectReference Include="..\..\..\Framework\Console\OpenSim.Framework.Console.csproj">
82 <Name>OpenSim.Framework.Console</Name>
83 <Project>{A7CD0630-0000-0000-0000-000000000000}</Project>
84 <Package>{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</Package>
85 <Private>False</Private>
86 </ProjectReference>
87 </ItemGroup>
88 <ItemGroup>
89 <Compile Include="AssemblyInfo.cs">
90 <SubType>Code</SubType>
91 </Compile>
92 <Compile Include="PhysicsActor.cs">
93 <SubType>Code</SubType>
94 </Compile>
95 <Compile Include="PhysicsManager.cs">
96 <SubType>Code</SubType>
97 </Compile>
98 <Compile Include="PhysicsScene.cs">
99 <SubType>Code</SubType>
100 </Compile>
101 <Compile Include="PhysicsVector.cs">
102 <SubType>Code</SubType>
103 </Compile>
104 </ItemGroup>
105 <Import Project="$(MSBuildBinPath)\Microsoft.CSHARP.Targets" />
106 <PropertyGroup>
107 <PreBuildEvent>
108 </PreBuildEvent>
109 <PostBuildEvent>
110 </PostBuildEvent>
111 </PropertyGroup>
112</Project>
diff --git a/OpenSim/Region/Physics/Manager/OpenSim.Region.Physics.Manager.dll.build b/OpenSim/Region/Physics/Manager/OpenSim.Region.Physics.Manager.dll.build
new file mode 100644
index 0000000..4b7ce81
--- /dev/null
+++ b/OpenSim/Region/Physics/Manager/OpenSim.Region.Physics.Manager.dll.build
@@ -0,0 +1,47 @@
1<?xml version="1.0" ?>
2<project name="OpenSim.Region.Physics.Manager" default="build">
3 <target name="build">
4 <echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
5 <mkdir dir="${project::get-base-directory()}/${build.dir}" />
6 <copy todir="${project::get-base-directory()}/${build.dir}">
7 <fileset basedir="${project::get-base-directory()}">
8 </fileset>
9 </copy>
10 <csc target="library" debug="${build.debug}" unsafe="False" define="TRACE;DEBUG" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
11 <resources prefix="OpenSim.Region.Physics.Manager" dynamicprefix="true" >
12 </resources>
13 <sources failonempty="true">
14 <include name="AssemblyInfo.cs" />
15 <include name="PhysicsActor.cs" />
16 <include name="PhysicsManager.cs" />
17 <include name="PhysicsScene.cs" />
18 <include name="PhysicsVector.cs" />
19 </sources>
20 <references basedir="${project::get-base-directory()}">
21 <lib>
22 <include name="${project::get-base-directory()}" />
23 <include name="${project::get-base-directory()}/${build.dir}" />
24 </lib>
25 <include name="../../../../bin/Axiom.MathLib.dll" />
26 <include name="../../../../bin/OpenSim.Framework.dll" />
27 <include name="../../../../bin/OpenSim.Framework.Console.dll" />
28 <include name="System.dll" />
29 <include name="System.Xml.dll" />
30 </references>
31 </csc>
32 <echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../../../bin/" />
33 <mkdir dir="${project::get-base-directory()}/../../../../bin/"/>
34 <copy todir="${project::get-base-directory()}/../../../../bin/">
35 <fileset basedir="${project::get-base-directory()}/${build.dir}/" >
36 <include name="*.dll"/>
37 <include name="*.exe"/>
38 </fileset>
39 </copy>
40 </target>
41 <target name="clean">
42 <delete dir="${bin.dir}" failonerror="false" />
43 <delete dir="${obj.dir}" failonerror="false" />
44 </target>
45 <target name="doc" description="Creates documentation.">
46 </target>
47</project>
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
new file mode 100644
index 0000000..6366fb8
--- /dev/null
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -0,0 +1,161 @@
1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System;
29using System.Collections.Generic;
30using System.Text;
31
32namespace OpenSim.Physics.Manager
33{
34 public abstract class PhysicsActor
35 {
36 public static PhysicsActor Null
37 {
38 get
39 {
40 return new NullPhysicsActor();
41 }
42 }
43
44 public abstract PhysicsVector Position
45 {
46 get;
47 set;
48 }
49
50 public abstract PhysicsVector Velocity
51 {
52 get;
53 set;
54 }
55
56 public abstract PhysicsVector Acceleration
57 {
58 get;
59 }
60
61 public abstract Axiom.MathLib.Quaternion Orientation
62 {
63 get;
64 set;
65 }
66
67 public abstract bool Flying
68 {
69 get;
70 set;
71 }
72
73 public abstract bool Kinematic
74 {
75 get;
76 set;
77 }
78
79 public abstract void AddForce(PhysicsVector force);
80
81 public abstract void SetMomentum(PhysicsVector momentum);
82 }
83
84 public class NullPhysicsActor : PhysicsActor
85 {
86 public override PhysicsVector Position
87 {
88 get
89 {
90 return PhysicsVector.Zero;
91 }
92 set
93 {
94 return;
95 }
96 }
97
98 public override PhysicsVector Velocity
99 {
100 get
101 {
102 return PhysicsVector.Zero;
103 }
104 set
105 {
106 return;
107 }
108 }
109
110 public override Axiom.MathLib.Quaternion Orientation
111 {
112 get
113 {
114 return Axiom.MathLib.Quaternion.Identity;
115 }
116 set
117 {
118
119 }
120 }
121
122 public override PhysicsVector Acceleration
123 {
124 get { return PhysicsVector.Zero; }
125 }
126
127 public override bool Flying
128 {
129 get
130 {
131 return false;
132 }
133 set
134 {
135 return;
136 }
137 }
138
139 public override bool Kinematic
140 {
141 get
142 {
143 return true;
144 }
145 set
146 {
147 return;
148 }
149 }
150
151 public override void AddForce(PhysicsVector force)
152 {
153 return;
154 }
155
156 public override void SetMomentum(PhysicsVector momentum)
157 {
158 return;
159 }
160 }
161}
diff --git a/OpenSim/Region/Physics/Manager/PhysicsManager.cs b/OpenSim/Region/Physics/Manager/PhysicsManager.cs
new file mode 100644
index 0000000..efccb36
--- /dev/null
+++ b/OpenSim/Region/Physics/Manager/PhysicsManager.cs
@@ -0,0 +1,117 @@
1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System;
29using System.Collections.Generic;
30using System.Collections;
31using System.IO;
32using System.Reflection;
33using Axiom.MathLib;
34using OpenSim.Framework.Console;
35
36namespace OpenSim.Physics.Manager
37{
38 /// <summary>
39 /// Description of MyClass.
40 /// </summary>
41 public class PhysicsManager
42 {
43 private Dictionary<string, IPhysicsPlugin> _plugins=new Dictionary<string, IPhysicsPlugin>();
44
45 public PhysicsManager()
46 {
47
48 }
49
50 public PhysicsScene GetPhysicsScene(string engineName)
51 {
52 if (String.IsNullOrEmpty(engineName))
53 {
54 return new NullPhysicsScene();
55 }
56
57 if(_plugins.ContainsKey(engineName))
58 {
59 OpenSim.Framework.Console.MainLog.Instance.WriteLine(LogPriority.LOW,"creating "+engineName);
60 return _plugins[engineName].GetScene();
61 }
62 else
63 {
64 OpenSim.Framework.Console.MainLog.Instance.WriteLine(LogPriority.MEDIUM,"couldn't find physicsEngine: {0}",engineName);
65 throw new ArgumentException(String.Format("couldn't find physicsEngine: {0}",engineName));
66 }
67 }
68
69 public void LoadPlugins()
70 {
71 string path = Path.Combine(System.AppDomain.CurrentDomain.BaseDirectory ,"Physics");
72 string[] pluginFiles = Directory.GetFiles(path, "*.dll");
73
74
75 for(int i= 0; i<pluginFiles.Length; i++)
76 {
77 this.AddPlugin(pluginFiles[i]);
78 }
79 }
80
81 private void AddPlugin(string FileName)
82 {
83 Assembly pluginAssembly = Assembly.LoadFrom(FileName);
84
85 foreach (Type pluginType in pluginAssembly.GetTypes())
86 {
87 if (pluginType.IsPublic)
88 {
89 if (!pluginType.IsAbstract)
90 {
91 Type typeInterface = pluginType.GetInterface("IPhysicsPlugin", true);
92
93 if (typeInterface != null)
94 {
95 IPhysicsPlugin plug = (IPhysicsPlugin)Activator.CreateInstance(pluginAssembly.GetType(pluginType.ToString()));
96 plug.Init();
97 this._plugins.Add(plug.GetName(),plug);
98
99 }
100
101 typeInterface = null;
102 }
103 }
104 }
105
106 pluginAssembly = null;
107 }
108 }
109
110 public interface IPhysicsPlugin
111 {
112 bool Init();
113 PhysicsScene GetScene();
114 string GetName();
115 void Dispose();
116 }
117}
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
new file mode 100644
index 0000000..0901c2f
--- /dev/null
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -0,0 +1,113 @@
1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System;
29using System.Collections.Generic;
30using System.Text;
31using OpenSim.Framework.Console;
32
33namespace OpenSim.Physics.Manager
34{
35 public abstract class PhysicsScene
36 {
37 public static PhysicsScene Null
38 {
39 get
40 {
41 return new NullPhysicsScene();
42 }
43 }
44
45 public abstract PhysicsActor AddAvatar(PhysicsVector position);
46
47 public abstract void RemoveAvatar(PhysicsActor actor);
48
49 public abstract PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size);
50
51 public abstract void Simulate(float timeStep);
52
53 public abstract void GetResults();
54
55 public abstract void SetTerrain(float[] heightMap);
56
57 public abstract void DeleteTerrain();
58
59 public abstract bool IsThreaded
60 {
61 get;
62 }
63 }
64
65 public class NullPhysicsScene : PhysicsScene
66 {
67 private static int m_workIndicator;
68
69 public override PhysicsActor AddAvatar(PhysicsVector position)
70 {
71 OpenSim.Framework.Console.MainLog.Instance.Verbose("NullPhysicsScene : AddAvatar({0})", position);
72 return PhysicsActor.Null;
73 }
74
75 public override void RemoveAvatar(PhysicsActor actor)
76 {
77
78 }
79
80 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
81 {
82 OpenSim.Framework.Console.MainLog.Instance.Verbose( "NullPhysicsScene : AddPrim({0},{1})", position, size);
83 return PhysicsActor.Null;
84 }
85
86 public override void Simulate(float timeStep)
87 {
88 m_workIndicator = (m_workIndicator + 1) % 10;
89
90 //OpenSim.Framework.Console.MainLog.Instance.SetStatus(m_workIndicator.ToString());
91 }
92
93 public override void GetResults()
94 {
95 OpenSim.Framework.Console.MainLog.Instance.Verbose( "NullPhysicsScene : GetResults()");
96 }
97
98 public override void SetTerrain(float[] heightMap)
99 {
100 OpenSim.Framework.Console.MainLog.Instance.Verbose( "NullPhysicsScene : SetTerrain({0} items)", heightMap.Length);
101 }
102
103 public override void DeleteTerrain()
104 {
105
106 }
107
108 public override bool IsThreaded
109 {
110 get { return false; }
111 }
112 }
113}
diff --git a/OpenSim/Region/Physics/Manager/PhysicsVector.cs b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
new file mode 100644
index 0000000..888dbb5
--- /dev/null
+++ b/OpenSim/Region/Physics/Manager/PhysicsVector.cs
@@ -0,0 +1,54 @@
1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System;
29using System.Collections.Generic;
30using System.Text;
31
32namespace OpenSim.Physics.Manager
33{
34 public class PhysicsVector
35 {
36 public float X;
37 public float Y;
38 public float Z;
39
40 public PhysicsVector()
41 {
42
43 }
44
45 public PhysicsVector(float x, float y, float z)
46 {
47 X = x;
48 Y = y;
49 Z = z;
50 }
51
52 public static readonly PhysicsVector Zero = new PhysicsVector(0f, 0f, 0f);
53 }
54}
diff --git a/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..b49c8da
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System.Reflection;
29using System.Runtime.CompilerServices;
30using System.Runtime.InteropServices;
31
32// Information about this assembly is defined by the following
33// attributes.
34//
35// change them to the information which is associated with the assembly
36// you compile.
37
38[assembly: AssemblyTitle("RealPhysXplugin")]
39[assembly: AssemblyDescription("")]
40[assembly: AssemblyConfiguration("")]
41[assembly: AssemblyCompany("")]
42[assembly: AssemblyProduct("RealPhysXplugin")]
43[assembly: AssemblyCopyright("")]
44[assembly: AssemblyTrademark("")]
45[assembly: AssemblyCulture("")]
46
47// This sets the default COM visibility of types in the assembly to invisible.
48// If you need to expose a type to COM, use [ComVisible(true)] on that type.
49[assembly: ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly: AssemblyVersion("1.0.*")]
diff --git a/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
new file mode 100644
index 0000000..8aca851
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
@@ -0,0 +1,456 @@
1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System;
29using System.Collections.Generic;
30using OpenSim.Physics.Manager;
31using Ode.NET;
32
33namespace OpenSim.Region.Physics.OdePlugin
34{
35 /// <summary>
36 /// ODE plugin
37 /// </summary>
38 public class OdePlugin : IPhysicsPlugin
39 {
40 private OdeScene _mScene;
41
42 public OdePlugin()
43 {
44
45 }
46
47 public bool Init()
48 {
49 return true;
50 }
51
52 public PhysicsScene GetScene()
53 {
54 if (_mScene == null)
55 {
56 _mScene = new OdeScene();
57 }
58 return (_mScene);
59 }
60
61 public string GetName()
62 {
63 return ("OpenDynamicsEngine");
64 }
65
66 public void Dispose()
67 {
68
69 }
70 }
71
72 public class OdeScene : PhysicsScene
73 {
74 static public IntPtr world;
75 static public IntPtr space;
76 static private IntPtr contactgroup;
77 static private IntPtr LandGeom;
78 //static private IntPtr Land;
79 private double[] _heightmap;
80 static private d.NearCallback nearCallback = near;
81 private List<OdeCharacter> _characters = new List<OdeCharacter>();
82 private static d.ContactGeom[] contacts = new d.ContactGeom[30];
83 private static d.Contact contact;
84
85 public OdeScene()
86 {
87 contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;
88 contact.surface.mu = d.Infinity;
89 contact.surface.mu2 = 0.0f;
90 contact.surface.bounce = 0.1f;
91 contact.surface.bounce_vel = 0.1f;
92 contact.surface.soft_cfm = 0.01f;
93
94 world = d.WorldCreate();
95 space = d.HashSpaceCreate(IntPtr.Zero);
96 contactgroup = d.JointGroupCreate(0);
97 d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);
98 //d.WorldSetCFM(world, 1e-5f);
99 d.WorldSetAutoDisableFlag(world, false);
100 d.WorldSetContactSurfaceLayer(world, 0.001f);
101 // d.CreatePlane(space, 0, 0, 1, 0);
102 this._heightmap = new double[65536];
103 }
104
105 // This function blatantly ripped off from BoxStack.cs
106 static private void near(IntPtr space, IntPtr g1, IntPtr g2)
107 {
108 IntPtr b1 = d.GeomGetBody(g1);
109 IntPtr b2 = d.GeomGetBody(g2);
110 if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))
111 return;
112
113 int count = d.Collide(g1, g2, 500, contacts, d.ContactGeom.SizeOf);
114 for (int i = 0; i < count; ++i)
115 {
116 contact.geom = contacts[i];
117 IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);
118 d.JointAttach(joint, b1, b2);
119 }
120
121 }
122
123 public override PhysicsActor AddAvatar(PhysicsVector position)
124 {
125 PhysicsVector pos = new PhysicsVector();
126 pos.X = position.X;
127 pos.Y = position.Y;
128 pos.Z = position.Z + 20;
129 OdeCharacter newAv = new OdeCharacter(this, pos);
130 this._characters.Add(newAv);
131 return newAv;
132 }
133
134 public override void RemoveAvatar(PhysicsActor actor)
135 {
136
137 }
138
139 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
140 {
141 PhysicsVector pos = new PhysicsVector();
142 pos.X = position.X;
143 pos.Y = position.Y;
144 pos.Z = position.Z;
145 PhysicsVector siz = new PhysicsVector();
146 siz.X = size.X;
147 siz.Y = size.Y;
148 siz.Z = size.Z;
149 return new OdePrim();
150 }
151
152 public override void Simulate(float timeStep)
153 {
154 foreach (OdeCharacter actor in _characters)
155 {
156 actor.Move(timeStep * 5f);
157 }
158 d.SpaceCollide(space, IntPtr.Zero, nearCallback);
159 d.WorldQuickStep(world, timeStep * 5f);
160 d.JointGroupEmpty(contactgroup);
161 foreach (OdeCharacter actor in _characters)
162 {
163 actor.UpdatePosition();
164 }
165
166 }
167
168 public override void GetResults()
169 {
170
171 }
172
173 public override bool IsThreaded
174 {
175 get
176 {
177 return (false); // for now we won't be multithreaded
178 }
179 }
180
181 public override void SetTerrain(float[] heightMap)
182 {
183 for (int i = 0; i < 65536; i++)
184 {
185 // this._heightmap[i] = (double)heightMap[i];
186 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
187 int x = i & 0xff;
188 int y = i >> 8;
189 this._heightmap[i] = (double)heightMap[x * 256 + y];
190 }
191 IntPtr HeightmapData = d.GeomHeightfieldDataCreate();
192 d.GeomHeightfieldDataBuildDouble(HeightmapData, _heightmap, 0, 256, 256, 256, 256, 1.0f, 0.0f, 2.0f, 0);
193 d.GeomHeightfieldDataSetBounds(HeightmapData, 256, 256);
194 LandGeom = d.CreateHeightfield(space, HeightmapData, 1);
195 d.Matrix3 R = new d.Matrix3();
196
197 Axiom.MathLib.Quaternion q1 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(1,0,0));
198 Axiom.MathLib.Quaternion q2 =Axiom.MathLib.Quaternion.FromAngleAxis(1.5707f, new Axiom.MathLib.Vector3(0,1,0));
199 //Axiom.MathLib.Quaternion q3 = Axiom.MathLib.Quaternion.FromAngleAxis(3.14f, new Axiom.MathLib.Vector3(0, 0, 1));
200
201 q1 = q1 * q2;
202 //q1 = q1 * q3;
203 Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3();
204 float angle = 0;
205 q1.ToAngleAxis(ref angle, ref v3);
206
207 d.RFromAxisAndAngle(out R, v3.x, v3.y, v3.z, angle);
208 d.GeomSetRotation(LandGeom, ref R);
209 d.GeomSetPosition(LandGeom, 128, 128, 0);
210 }
211
212 public override void DeleteTerrain()
213 {
214
215 }
216 }
217
218 public class OdeCharacter : PhysicsActor
219 {
220 private PhysicsVector _position;
221 private PhysicsVector _velocity;
222 private PhysicsVector _acceleration;
223 private bool flying;
224 //private float gravityAccel;
225 private IntPtr BoundingCapsule;
226 IntPtr capsule_geom;
227 d.Mass capsule_mass;
228
229 public OdeCharacter(OdeScene parent_scene, PhysicsVector pos)
230 {
231 _velocity = new PhysicsVector();
232 _position = pos;
233 _acceleration = new PhysicsVector();
234 d.MassSetCapsule(out capsule_mass, 5.0f, 3, 0.5f, 2f);
235 capsule_geom = d.CreateCapsule(OdeScene.space, 0.5f, 2f);
236 this.BoundingCapsule = d.BodyCreate(OdeScene.world);
237 d.BodySetMass(BoundingCapsule, ref capsule_mass);
238 d.BodySetPosition(BoundingCapsule, pos.X, pos.Y, pos.Z);
239 d.GeomSetBody(capsule_geom, BoundingCapsule);
240 }
241
242 public override bool Flying
243 {
244 get
245 {
246 return flying;
247 }
248 set
249 {
250 flying = value;
251 }
252 }
253
254 public override PhysicsVector Position
255 {
256 get
257 {
258 return _position;
259 }
260 set
261 {
262 _position = value;
263 }
264 }
265
266 public override PhysicsVector Velocity
267 {
268 get
269 {
270 return _velocity;
271 }
272 set
273 {
274 _velocity = value;
275 }
276 }
277
278 public override bool Kinematic
279 {
280 get
281 {
282 return false;
283 }
284 set
285 {
286
287 }
288 }
289
290 public override Axiom.MathLib.Quaternion Orientation
291 {
292 get
293 {
294 return Axiom.MathLib.Quaternion.Identity;
295 }
296 set
297 {
298
299 }
300 }
301
302 public override PhysicsVector Acceleration
303 {
304 get
305 {
306 return _acceleration;
307 }
308
309 }
310 public void SetAcceleration(PhysicsVector accel)
311 {
312 this._acceleration = accel;
313 }
314
315 public override void AddForce(PhysicsVector force)
316 {
317
318 }
319
320 public override void SetMomentum(PhysicsVector momentum)
321 {
322
323 }
324
325 public void Move(float timeStep)
326 {
327 PhysicsVector vec = new PhysicsVector();
328 vec.X = this._velocity.X * timeStep;
329 vec.Y = this._velocity.Y * timeStep;
330 if (flying)
331 {
332 vec.Z = (this._velocity.Z + 0.5f) * timeStep;
333 }
334 d.BodySetLinearVel(this.BoundingCapsule, vec.X, vec.Y, vec.Z);
335 }
336
337 public void UpdatePosition()
338 {
339 d.Vector3 vec = d.BodyGetPosition(BoundingCapsule);
340 this._position.X = vec.X;
341 this._position.Y = vec.Y;
342 this._position.Z = vec.Z+1.0f;
343 }
344 }
345
346 public class OdePrim : PhysicsActor
347 {
348 private PhysicsVector _position;
349 private PhysicsVector _velocity;
350 private PhysicsVector _acceleration;
351
352 public OdePrim()
353 {
354 _velocity = new PhysicsVector();
355 _position = new PhysicsVector();
356 _acceleration = new PhysicsVector();
357 }
358 public override bool Flying
359 {
360 get
361 {
362 return false; //no flying prims for you
363 }
364 set
365 {
366
367 }
368 }
369 public override PhysicsVector Position
370 {
371 get
372 {
373 PhysicsVector pos = new PhysicsVector();
374 // PhysicsVector vec = this._prim.Position;
375 //pos.X = vec.X;
376 //pos.Y = vec.Y;
377 //pos.Z = vec.Z;
378 return pos;
379
380 }
381 set
382 {
383 /*PhysicsVector vec = value;
384 PhysicsVector pos = new PhysicsVector();
385 pos.X = vec.X;
386 pos.Y = vec.Y;
387 pos.Z = vec.Z;
388 this._prim.Position = pos;*/
389 }
390 }
391
392 public override PhysicsVector Velocity
393 {
394 get
395 {
396 return _velocity;
397 }
398 set
399 {
400 _velocity = value;
401 }
402 }
403
404 public override bool Kinematic
405 {
406 get
407 {
408 return false;
409 //return this._prim.Kinematic;
410 }
411 set
412 {
413 //this._prim.Kinematic = value;
414 }
415 }
416
417 public override Axiom.MathLib.Quaternion Orientation
418 {
419 get
420 {
421 Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
422 return res;
423 }
424 set
425 {
426
427 }
428 }
429
430 public override PhysicsVector Acceleration
431 {
432 get
433 {
434 return _acceleration;
435 }
436
437 }
438 public void SetAcceleration(PhysicsVector accel)
439 {
440 this._acceleration = accel;
441 }
442
443 public override void AddForce(PhysicsVector force)
444 {
445
446 }
447
448 public override void SetMomentum(PhysicsVector momentum)
449 {
450
451 }
452
453
454 }
455
456}
diff --git a/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj
new file mode 100644
index 0000000..490c681
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.csproj
@@ -0,0 +1,97 @@
1<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <ProjectType>Local</ProjectType>
4 <ProductVersion>8.0.50727</ProductVersion>
5 <SchemaVersion>2.0</SchemaVersion>
6 <ProjectGuid>{90620634-0000-0000-0000-000000000000}</ProjectGuid>
7 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
8 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
9 <ApplicationIcon></ApplicationIcon>
10 <AssemblyKeyContainerName>
11 </AssemblyKeyContainerName>
12 <AssemblyName>OpenSim.Region.Physics.OdePlugin</AssemblyName>
13 <DefaultClientScript>JScript</DefaultClientScript>
14 <DefaultHTMLPageLayout>Grid</DefaultHTMLPageLayout>
15 <DefaultTargetSchema>IE50</DefaultTargetSchema>
16 <DelaySign>false</DelaySign>
17 <OutputType>Library</OutputType>
18 <AppDesignerFolder></AppDesignerFolder>
19 <RootNamespace>OpenSim.Region.Physics.OdePlugin</RootNamespace>
20 <StartupObject></StartupObject>
21 <FileUpgradeFlags>
22 </FileUpgradeFlags>
23 </PropertyGroup>
24 <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
25 <AllowUnsafeBlocks>False</AllowUnsafeBlocks>
26 <BaseAddress>285212672</BaseAddress>
27 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
28 <ConfigurationOverrideFile>
29 </ConfigurationOverrideFile>
30 <DefineConstants>TRACE;DEBUG</DefineConstants>
31 <DocumentationFile></DocumentationFile>
32 <DebugSymbols>True</DebugSymbols>
33 <FileAlignment>4096</FileAlignment>
34 <Optimize>False</Optimize>
35 <OutputPath>..\..\..\..\bin\Physics\</OutputPath>
36 <RegisterForComInterop>False</RegisterForComInterop>
37 <RemoveIntegerChecks>False</RemoveIntegerChecks>
38 <TreatWarningsAsErrors>False</TreatWarningsAsErrors>
39 <WarningLevel>4</WarningLevel>
40 <NoWarn></NoWarn>
41 </PropertyGroup>
42 <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
43 <AllowUnsafeBlocks>False</AllowUnsafeBlocks>
44 <BaseAddress>285212672</BaseAddress>
45 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
46 <ConfigurationOverrideFile>
47 </ConfigurationOverrideFile>
48 <DefineConstants>TRACE</DefineConstants>
49 <DocumentationFile></DocumentationFile>
50 <DebugSymbols>False</DebugSymbols>
51 <FileAlignment>4096</FileAlignment>
52 <Optimize>True</Optimize>
53 <OutputPath>..\..\..\..\bin\Physics\</OutputPath>
54 <RegisterForComInterop>False</RegisterForComInterop>
55 <RemoveIntegerChecks>False</RemoveIntegerChecks>
56 <TreatWarningsAsErrors>False</TreatWarningsAsErrors>
57 <WarningLevel>4</WarningLevel>
58 <NoWarn></NoWarn>
59 </PropertyGroup>
60 <ItemGroup>
61 <Reference Include="Axiom.MathLib.dll" >
62 <HintPath>..\..\..\..\bin\Axiom.MathLib.dll</HintPath>
63 <Private>False</Private>
64 </Reference>
65 <Reference Include="Ode.NET.dll" >
66 <HintPath>..\..\..\..\bin\Ode.NET.dll</HintPath>
67 <Private>False</Private>
68 </Reference>
69 <Reference Include="System" >
70 <HintPath>System.dll</HintPath>
71 <Private>False</Private>
72 </Reference>
73 </ItemGroup>
74 <ItemGroup>
75 <ProjectReference Include="..\Manager\OpenSim.Region.Physics.Manager.csproj">
76 <Name>OpenSim.Region.Physics.Manager</Name>
77 <Project>{F4FF31EB-0000-0000-0000-000000000000}</Project>
78 <Package>{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</Package>
79 <Private>False</Private>
80 </ProjectReference>
81 </ItemGroup>
82 <ItemGroup>
83 <Compile Include="AssemblyInfo.cs">
84 <SubType>Code</SubType>
85 </Compile>
86 <Compile Include="OdePlugin.cs">
87 <SubType>Code</SubType>
88 </Compile>
89 </ItemGroup>
90 <Import Project="$(MSBuildBinPath)\Microsoft.CSHARP.Targets" />
91 <PropertyGroup>
92 <PreBuildEvent>
93 </PreBuildEvent>
94 <PostBuildEvent>
95 </PostBuildEvent>
96 </PropertyGroup>
97</Project>
diff --git a/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.dll.build b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.dll.build
new file mode 100644
index 0000000..07b9386
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/OpenSim.Region.Physics.OdePlugin.dll.build
@@ -0,0 +1,43 @@
1<?xml version="1.0" ?>
2<project name="OpenSim.Region.Physics.OdePlugin" default="build">
3 <target name="build">
4 <echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
5 <mkdir dir="${project::get-base-directory()}/${build.dir}" />
6 <copy todir="${project::get-base-directory()}/${build.dir}">
7 <fileset basedir="${project::get-base-directory()}">
8 </fileset>
9 </copy>
10 <csc target="library" debug="${build.debug}" unsafe="False" define="TRACE;DEBUG" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
11 <resources prefix="OpenSim.Region.Physics.OdePlugin" dynamicprefix="true" >
12 </resources>
13 <sources failonempty="true">
14 <include name="AssemblyInfo.cs" />
15 <include name="OdePlugin.cs" />
16 </sources>
17 <references basedir="${project::get-base-directory()}">
18 <lib>
19 <include name="${project::get-base-directory()}" />
20 <include name="${project::get-base-directory()}/${build.dir}" />
21 </lib>
22 <include name="../../../../bin/Axiom.MathLib.dll" />
23 <include name="../../../../bin/Ode.NET.dll" />
24 <include name="../../../../bin/OpenSim.Region.Physics.Manager.dll" />
25 <include name="System.dll" />
26 </references>
27 </csc>
28 <echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../../../bin/Physics/" />
29 <mkdir dir="${project::get-base-directory()}/../../../../bin/Physics/"/>
30 <copy todir="${project::get-base-directory()}/../../../../bin/Physics/">
31 <fileset basedir="${project::get-base-directory()}/${build.dir}/" >
32 <include name="*.dll"/>
33 <include name="*.exe"/>
34 </fileset>
35 </copy>
36 </target>
37 <target name="clean">
38 <delete dir="${bin.dir}" failonerror="false" />
39 <delete dir="${obj.dir}" failonerror="false" />
40 </target>
41 <target name="doc" description="Creates documentation.">
42 </target>
43</project>
diff --git a/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs b/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs
new file mode 100644
index 0000000..b49c8da
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/AssemblyInfo.cs
@@ -0,0 +1,58 @@
1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System.Reflection;
29using System.Runtime.CompilerServices;
30using System.Runtime.InteropServices;
31
32// Information about this assembly is defined by the following
33// attributes.
34//
35// change them to the information which is associated with the assembly
36// you compile.
37
38[assembly: AssemblyTitle("RealPhysXplugin")]
39[assembly: AssemblyDescription("")]
40[assembly: AssemblyConfiguration("")]
41[assembly: AssemblyCompany("")]
42[assembly: AssemblyProduct("RealPhysXplugin")]
43[assembly: AssemblyCopyright("")]
44[assembly: AssemblyTrademark("")]
45[assembly: AssemblyCulture("")]
46
47// This sets the default COM visibility of types in the assembly to invisible.
48// If you need to expose a type to COM, use [ComVisible(true)] on that type.
49[assembly: ComVisible(false)]
50
51// The assembly version has following format :
52//
53// Major.Minor.Build.Revision
54//
55// You can specify all values by your own or you can build default build and revision
56// numbers with the '*' character (the default):
57
58[assembly: AssemblyVersion("1.0.*")]
diff --git a/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj b/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj
new file mode 100644
index 0000000..77da908
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.csproj
@@ -0,0 +1,97 @@
1<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <ProjectType>Local</ProjectType>
4 <ProductVersion>8.0.50727</ProductVersion>
5 <SchemaVersion>2.0</SchemaVersion>
6 <ProjectGuid>{A6D191D8-0000-0000-0000-000000000000}</ProjectGuid>
7 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
8 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
9 <ApplicationIcon></ApplicationIcon>
10 <AssemblyKeyContainerName>
11 </AssemblyKeyContainerName>
12 <AssemblyName>OpenSim.Region.Physics.PhysXPlugin</AssemblyName>
13 <DefaultClientScript>JScript</DefaultClientScript>
14 <DefaultHTMLPageLayout>Grid</DefaultHTMLPageLayout>
15 <DefaultTargetSchema>IE50</DefaultTargetSchema>
16 <DelaySign>false</DelaySign>
17 <OutputType>Library</OutputType>
18 <AppDesignerFolder></AppDesignerFolder>
19 <RootNamespace>OpenSim.Region.Physics.PhysXPlugin</RootNamespace>
20 <StartupObject></StartupObject>
21 <FileUpgradeFlags>
22 </FileUpgradeFlags>
23 </PropertyGroup>
24 <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
25 <AllowUnsafeBlocks>False</AllowUnsafeBlocks>
26 <BaseAddress>285212672</BaseAddress>
27 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
28 <ConfigurationOverrideFile>
29 </ConfigurationOverrideFile>
30 <DefineConstants>TRACE;DEBUG</DefineConstants>
31 <DocumentationFile></DocumentationFile>
32 <DebugSymbols>True</DebugSymbols>
33 <FileAlignment>4096</FileAlignment>
34 <Optimize>False</Optimize>
35 <OutputPath>..\..\..\..\bin\Physics\</OutputPath>
36 <RegisterForComInterop>False</RegisterForComInterop>
37 <RemoveIntegerChecks>False</RemoveIntegerChecks>
38 <TreatWarningsAsErrors>False</TreatWarningsAsErrors>
39 <WarningLevel>4</WarningLevel>
40 <NoWarn></NoWarn>
41 </PropertyGroup>
42 <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
43 <AllowUnsafeBlocks>False</AllowUnsafeBlocks>
44 <BaseAddress>285212672</BaseAddress>
45 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
46 <ConfigurationOverrideFile>
47 </ConfigurationOverrideFile>
48 <DefineConstants>TRACE</DefineConstants>
49 <DocumentationFile></DocumentationFile>
50 <DebugSymbols>False</DebugSymbols>
51 <FileAlignment>4096</FileAlignment>
52 <Optimize>True</Optimize>
53 <OutputPath>..\..\..\..\bin\Physics\</OutputPath>
54 <RegisterForComInterop>False</RegisterForComInterop>
55 <RemoveIntegerChecks>False</RemoveIntegerChecks>
56 <TreatWarningsAsErrors>False</TreatWarningsAsErrors>
57 <WarningLevel>4</WarningLevel>
58 <NoWarn></NoWarn>
59 </PropertyGroup>
60 <ItemGroup>
61 <Reference Include="Axiom.MathLib.dll" >
62 <HintPath>..\..\..\..\bin\Axiom.MathLib.dll</HintPath>
63 <Private>False</Private>
64 </Reference>
65 <Reference Include="PhysX_Wrapper_Dotnet.dll" >
66 <HintPath>..\..\..\..\bin\PhysX_Wrapper_Dotnet.dll</HintPath>
67 <Private>False</Private>
68 </Reference>
69 <Reference Include="System" >
70 <HintPath>System.dll</HintPath>
71 <Private>False</Private>
72 </Reference>
73 </ItemGroup>
74 <ItemGroup>
75 <ProjectReference Include="..\Manager\OpenSim.Region.Physics.Manager.csproj">
76 <Name>OpenSim.Region.Physics.Manager</Name>
77 <Project>{F4FF31EB-0000-0000-0000-000000000000}</Project>
78 <Package>{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</Package>
79 <Private>False</Private>
80 </ProjectReference>
81 </ItemGroup>
82 <ItemGroup>
83 <Compile Include="AssemblyInfo.cs">
84 <SubType>Code</SubType>
85 </Compile>
86 <Compile Include="PhysXPlugin.cs">
87 <SubType>Code</SubType>
88 </Compile>
89 </ItemGroup>
90 <Import Project="$(MSBuildBinPath)\Microsoft.CSHARP.Targets" />
91 <PropertyGroup>
92 <PreBuildEvent>
93 </PreBuildEvent>
94 <PostBuildEvent>
95 </PostBuildEvent>
96 </PropertyGroup>
97</Project>
diff --git a/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.dll.build b/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.dll.build
new file mode 100644
index 0000000..c1a9608
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/OpenSim.Region.Physics.PhysXPlugin.dll.build
@@ -0,0 +1,43 @@
1<?xml version="1.0" ?>
2<project name="OpenSim.Region.Physics.PhysXPlugin" default="build">
3 <target name="build">
4 <echo message="Build Directory is ${project::get-base-directory()}/${build.dir}" />
5 <mkdir dir="${project::get-base-directory()}/${build.dir}" />
6 <copy todir="${project::get-base-directory()}/${build.dir}">
7 <fileset basedir="${project::get-base-directory()}">
8 </fileset>
9 </copy>
10 <csc target="library" debug="${build.debug}" unsafe="False" define="TRACE;DEBUG" output="${project::get-base-directory()}/${build.dir}/${project::get-name()}.dll">
11 <resources prefix="OpenSim.Region.Physics.PhysXPlugin" dynamicprefix="true" >
12 </resources>
13 <sources failonempty="true">
14 <include name="AssemblyInfo.cs" />
15 <include name="PhysXPlugin.cs" />
16 </sources>
17 <references basedir="${project::get-base-directory()}">
18 <lib>
19 <include name="${project::get-base-directory()}" />
20 <include name="${project::get-base-directory()}/${build.dir}" />
21 </lib>
22 <include name="../../../../bin/Axiom.MathLib.dll" />
23 <include name="../../../../bin/OpenSim.Region.Physics.Manager.dll" />
24 <include name="../../../../bin/PhysX_Wrapper_Dotnet.dll" />
25 <include name="System.dll" />
26 </references>
27 </csc>
28 <echo message="Copying from [${project::get-base-directory()}/${build.dir}/] to [${project::get-base-directory()}/../../../../bin/Physics/" />
29 <mkdir dir="${project::get-base-directory()}/../../../../bin/Physics/"/>
30 <copy todir="${project::get-base-directory()}/../../../../bin/Physics/">
31 <fileset basedir="${project::get-base-directory()}/${build.dir}/" >
32 <include name="*.dll"/>
33 <include name="*.exe"/>
34 </fileset>
35 </copy>
36 </target>
37 <target name="clean">
38 <delete dir="${bin.dir}" failonerror="false" />
39 <delete dir="${obj.dir}" failonerror="false" />
40 </target>
41 <target name="doc" description="Creates documentation.">
42 </target>
43</project>
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
new file mode 100644
index 0000000..8bf794b
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
@@ -0,0 +1,424 @@
1/*/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4*
5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission.
15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26*
27*/
28using System;
29using System.Collections.Generic;
30using OpenSim.Physics.Manager;
31using PhysXWrapper;
32
33namespace OpenSim.Region.Physics.PhysXPlugin
34{
35 /// <summary>
36 /// Will be the PhysX plugin but for now will be a very basic physics engine
37 /// </summary>
38 public class PhysXPlugin : IPhysicsPlugin
39 {
40 private PhysXScene _mScene;
41
42 public PhysXPlugin()
43 {
44
45 }
46
47 public bool Init()
48 {
49 return true;
50 }
51
52 public PhysicsScene GetScene()
53 {
54 if(_mScene == null)
55 {
56 _mScene = new PhysXScene();
57 }
58 return(_mScene);
59 }
60
61 public string GetName()
62 {
63 return("RealPhysX");
64 }
65
66 public void Dispose()
67 {
68
69 }
70 }
71
72 public class PhysXScene :PhysicsScene
73 {
74 private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
75 private List<PhysXPrim> _prims = new List<PhysXPrim>();
76 private float[] _heightMap = null;
77 private NxPhysicsSDK mySdk;
78 private NxScene scene;
79
80 public PhysXScene()
81 {
82 mySdk = NxPhysicsSDK.CreateSDK();
83 Console.WriteLine("Sdk created - now creating scene");
84 scene = mySdk.CreateScene();
85
86 }
87
88 public override PhysicsActor AddAvatar(PhysicsVector position)
89 {
90 Vec3 pos = new Vec3();
91 pos.X = position.X;
92 pos.Y = position.Y;
93 pos.Z = position.Z;
94 PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos));
95 act.Position = position;
96 _characters.Add(act);
97 return act;
98 }
99
100 public override void RemoveAvatar(PhysicsActor actor)
101 {
102
103 }
104
105 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
106 {
107 Vec3 pos = new Vec3();
108 pos.X = position.X;
109 pos.Y = position.Y;
110 pos.Z = position.Z;
111 Vec3 siz = new Vec3();
112 siz.X = size.X;
113 siz.Y = size.Y;
114 siz.Z = size.Z;
115 PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz));
116 _prims.Add(act);
117 return act;
118 }
119 public override void Simulate(float timeStep)
120 {
121 try
122 {
123 foreach (PhysXCharacter actor in _characters)
124 {
125 actor.Move(timeStep);
126 }
127 scene.Simulate(timeStep);
128 scene.FetchResults();
129 scene.UpdateControllers();
130
131 foreach (PhysXCharacter actor in _characters)
132 {
133 actor.UpdatePosition();
134 }
135 }
136 catch (Exception e)
137 {
138 Console.WriteLine(e.Message);
139 }
140
141 }
142
143 public override void GetResults()
144 {
145
146 }
147
148 public override bool IsThreaded
149 {
150 get
151 {
152 return(false); // for now we won't be multithreaded
153 }
154 }
155
156 public override void SetTerrain(float[] heightMap)
157 {
158 if (this._heightMap != null)
159 {
160 Console.WriteLine("PhysX - deleting old terrain");
161 this.scene.DeleteTerrain();
162 }
163 this._heightMap = heightMap;
164 this.scene.AddTerrain(heightMap);
165 }
166
167 public override void DeleteTerrain()
168 {
169 this.scene.DeleteTerrain();
170 }
171 }
172
173 public class PhysXCharacter : PhysicsActor
174 {
175 private PhysicsVector _position;
176 private PhysicsVector _velocity;
177 private PhysicsVector _acceleration;
178 private NxCharacter _character;
179 private bool flying;
180 private float gravityAccel;
181
182 public PhysXCharacter(NxCharacter character)
183 {
184 _velocity = new PhysicsVector();
185 _position = new PhysicsVector();
186 _acceleration = new PhysicsVector();
187 _character = character;
188 }
189
190 public override bool Flying
191 {
192 get
193 {
194 return flying;
195 }
196 set
197 {
198 flying = value;
199 }
200 }
201
202 public override PhysicsVector Position
203 {
204 get
205 {
206 return _position;
207 }
208 set
209 {
210 _position = value;
211 Vec3 ps = new Vec3();
212 ps.X = value.X;
213 ps.Y = value.Y;
214 ps.Z = value.Z;
215 this._character.Position = ps;
216 }
217 }
218
219 public override PhysicsVector Velocity
220 {
221 get
222 {
223 return _velocity;
224 }
225 set
226 {
227 _velocity = value;
228 }
229 }
230
231 public override bool Kinematic
232 {
233 get
234 {
235 return false;
236 }
237 set
238 {
239
240 }
241 }
242
243 public override Axiom.MathLib.Quaternion Orientation
244 {
245 get
246 {
247 return Axiom.MathLib.Quaternion.Identity;
248 }
249 set
250 {
251
252 }
253 }
254
255 public override PhysicsVector Acceleration
256 {
257 get
258 {
259 return _acceleration;
260 }
261
262 }
263 public void SetAcceleration (PhysicsVector accel)
264 {
265 this._acceleration = accel;
266 }
267
268 public override void AddForce(PhysicsVector force)
269 {
270
271 }
272
273 public override void SetMomentum(PhysicsVector momentum)
274 {
275
276 }
277
278 public void Move(float timeStep)
279 {
280 Vec3 vec = new Vec3();
281 vec.X = this._velocity.X * timeStep;
282 vec.Y = this._velocity.Y * timeStep;
283 if(flying)
284 {
285 vec.Z = ( this._velocity.Z) * timeStep;
286 }
287 else
288 {
289 gravityAccel+= -9.8f;
290 vec.Z = (gravityAccel + this._velocity.Z) * timeStep;
291 }
292 int res = this._character.Move(vec);
293 if(res == 1)
294 {
295 gravityAccel = 0;
296 }
297 }
298
299 public void UpdatePosition()
300 {
301 Vec3 vec = this._character.Position;
302 this._position.X = vec.X;
303 this._position.Y = vec.Y;
304 this._position.Z = vec.Z;
305 }
306 }
307
308 public class PhysXPrim : PhysicsActor
309 {
310 private PhysicsVector _position;
311 private PhysicsVector _velocity;
312 private PhysicsVector _acceleration;
313 private NxActor _prim;
314
315 public PhysXPrim(NxActor prim)
316 {
317 _velocity = new PhysicsVector();
318 _position = new PhysicsVector();
319 _acceleration = new PhysicsVector();
320 _prim = prim;
321 }
322 public override bool Flying
323 {
324 get
325 {
326 return false; //no flying prims for you
327 }
328 set
329 {
330
331 }
332 }
333 public override PhysicsVector Position
334 {
335 get
336 {
337 PhysicsVector pos = new PhysicsVector();
338 Vec3 vec = this._prim.Position;
339 pos.X = vec.X;
340 pos.Y = vec.Y;
341 pos.Z = vec.Z;
342 return pos;
343
344 }
345 set
346 {
347 PhysicsVector vec = value;
348 Vec3 pos = new Vec3();
349 pos.X = vec.X;
350 pos.Y = vec.Y;
351 pos.Z = vec.Z;
352 this._prim.Position = pos;
353 }
354 }
355
356 public override PhysicsVector Velocity
357 {
358 get
359 {
360 return _velocity;
361 }
362 set
363 {
364 _velocity = value;
365 }
366 }
367
368 public override bool Kinematic
369 {
370 get
371 {
372 return this._prim.Kinematic;
373 }
374 set
375 {
376 this._prim.Kinematic = value;
377 }
378 }
379
380 public override Axiom.MathLib.Quaternion Orientation
381 {
382 get
383 {
384 Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion();
385 PhysXWrapper.Quaternion quat = this._prim.GetOrientation();
386 res.w = quat.W;
387 res.x = quat.X;
388 res.y = quat.Y;
389 res.z = quat.Z;
390 return res;
391 }
392 set
393 {
394
395 }
396 }
397
398 public override PhysicsVector Acceleration
399 {
400 get
401 {
402 return _acceleration;
403 }
404
405 }
406 public void SetAcceleration (PhysicsVector accel)
407 {
408 this._acceleration = accel;
409 }
410
411 public override void AddForce(PhysicsVector force)
412 {
413
414 }
415
416 public override void SetMomentum(PhysicsVector momentum)
417 {
418
419 }
420
421
422 }
423
424}
generated by cgit v1.1 at 2024-11-14 09:12:48 +0000