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-rw-r--r--OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs9
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs9
-rw-r--r--OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs9
-rw-r--r--OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs23
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs8
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs40
-rw-r--r--OpenSim/Region/Physics/Manager/PhysicsActor.cs14
-rw-r--r--OpenSim/Region/Physics/Manager/VehicleConstants.cs12
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODECharacter.cs9
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs451
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEPrim.cs9
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSCharacter.cs10
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSPrim.cs10
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXCharacter.cs353
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs861
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXPrim.cs349
-rw-r--r--OpenSim/Region/Physics/PhysXPlugin/PhysXScene.cs183
17 files changed, 1333 insertions, 1026 deletions
diff --git a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
index 25b9099..5e2eeeb 100644
--- a/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
+++ b/OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsActor.cs
@@ -184,17 +184,12 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
184 { 184 {
185 185
186 } 186 }
187
188 public override void VehicleFlagsSet(int flags)
189 {
190 187
191 } 188 public override void VehicleFlags(int param, bool remove)
192
193 public override void VehicleFlagsRemove(int flags)
194 { 189 {
195 190
196 } 191 }
197 192
198 public override void SetVolumeDetect(int param) 193 public override void SetVolumeDetect(int param)
199 { 194 {
200 195
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
index 120d040..198962b 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
@@ -361,17 +361,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
361 { 361 {
362 362
363 } 363 }
364
365 public override void VehicleFlagsSet(int flags)
366 {
367 364
368 } 365 public override void VehicleFlags(int param, bool remove)
369
370 public override void VehicleFlagsRemove(int flags)
371 { 366 {
372 367
373 } 368 }
374 369
375 public override void SetVolumeDetect(int param) 370 public override void SetVolumeDetect(int param)
376 { 371 {
377 372
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
index f430def..920ed96 100644
--- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
+++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
@@ -396,17 +396,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
396 { 396 {
397 //TODO: 397 //TODO:
398 } 398 }
399
400 public override void VehicleFlagsSet(int flags)
401 {
402 399
403 } 400 public override void VehicleFlags(int param, bool remove)
404
405 public override void VehicleFlagsRemove(int flags)
406 { 401 {
407 402
408 } 403 }
409 404
410 public override void SetVolumeDetect(int param) 405 public override void SetVolumeDetect(int param)
411 { 406 {
412 //TODO: GhostObject 407 //TODO: GhostObject
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index 9113ebe..f4245b6 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -500,6 +500,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
500 public BulletXScene(String sceneIdentifier) 500 public BulletXScene(String sceneIdentifier)
501 { 501 {
502 //identifier = sceneIdentifier; 502 //identifier = sceneIdentifier;
503 cDispatcher = new CollisionDispatcherLocal(this);
504 Vector3 worldMinDim = new Vector3((float)minXY, (float)minXY, (float)minZ);
505 Vector3 worldMaxDim = new Vector3((float)maxXY, (float)maxXY, (float)maxZ);
506 opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
507 sicSolver = new SequentialImpulseConstraintSolver();
508
509 lock (BulletXLock)
510 {
511 ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
512 ddWorld.Gravity = new Vector3(0, 0, -gravity);
513 }
514 //this._heightmap = new float[65536];
503 } 515 }
504 516
505 public static float Gravity 517 public static float Gravity
@@ -582,12 +594,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
582 pos.Y = position.Y; 594 pos.Y = position.Y;
583 pos.Z = position.Z + 20; 595 pos.Z = position.Z + 20;
584 BulletXCharacter newAv = null; 596 BulletXCharacter newAv = null;
585 newAv.Flying = isFlying;
586 lock (BulletXLock) 597 lock (BulletXLock)
587 { 598 {
588 newAv = new BulletXCharacter(avName, this, pos); 599 newAv = new BulletXCharacter(avName, this, pos);
589 _characters.Add(newAv.RigidBody, newAv); 600 _characters.Add(newAv.RigidBody, newAv);
590 } 601 }
602 newAv.Flying = isFlying;
591 return newAv; 603 return newAv;
592 } 604 }
593 605
@@ -984,17 +996,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
984 { 996 {
985 997
986 } 998 }
987
988 public override void VehicleFlagsSet(int flags)
989 {
990 999
991 } 1000 public override void VehicleFlags(int param, bool remove)
992
993 public override void VehicleFlagsRemove(int flags)
994 { 1001 {
995 1002
996 } 1003 }
997 1004
998 public override void SetVolumeDetect(int param) 1005 public override void SetVolumeDetect(int param)
999 { 1006 {
1000 1007
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
index 2eb519f..8e87ad9 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODECharacter.cs
@@ -734,16 +734,10 @@ namespace OpenSim.Region.Physics.OdePlugin
734 734
735 } 735 }
736 736
737 public override void VehicleFlagsSet(int flags) 737 public override void VehicleFlags(int flags, bool remove)
738 { 738 {
739
740 } 739 }
741
742 public override void VehicleFlagsRemove(int flags)
743 {
744 740
745 }
746
747 public override void SetVolumeDetect(int param) 741 public override void SetVolumeDetect(int param)
748 { 742 {
749 743
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
index 5d24388..e51ef5b 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -344,7 +344,7 @@ namespace OpenSim.Region.Physics.OdePlugin
344 { 344 {
345 set { 345 set {
346 346
347Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical); 347//Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical);
348 // This only makes the object not collidable if the object 348 // This only makes the object not collidable if the object
349 // is physical or the object is modified somehow *IN THE FUTURE* 349 // is physical or the object is modified somehow *IN THE FUTURE*
350 // without this, if an avatar selects prim, they can walk right 350 // without this, if an avatar selects prim, they can walk right
@@ -486,15 +486,10 @@ Console.WriteLine("Sel {0} {1} {2}", m_primName, value, m_isphysical);
486 { 486 {
487 ProcessRotationVehicleParam((Vehicle) param, rotation); 487 ProcessRotationVehicleParam((Vehicle) param, rotation);
488 } 488 }
489 489
490 public override void VehicleFlagsSet(int flags) 490 public override void VehicleFlags(int param, bool remove)
491 {
492 ProcessFlagsVehicleSet(flags);
493 }
494
495 public override void VehicleFlagsRemove(int flags)
496 { 491 {
497 ProcessFlagsVehicleRemove(flags); 492 ProcessVehicleFlags(param, remove);
498 } 493 }
499 494
500 public override void SetVolumeDetect(int param) 495 public override void SetVolumeDetect(int param)
@@ -2425,8 +2420,9 @@ Console.WriteLine(" JointCreateFixed");
2425 public void UpdatePositionAndVelocity() 2420 public void UpdatePositionAndVelocity()
2426 { 2421 {
2427 return; // moved to the MOVE() method 2422 return; // moved to the MOVE() method
2423 }
2428 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! 2424 // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit!
2429 if (_parent == null) 2425/* if (_parent == null)
2430 { 2426 {
2431 Vector3 pv = Vector3.Zero; 2427 Vector3 pv = Vector3.Zero;
2432 bool lastZeroFlag = _zeroFlag; 2428 bool lastZeroFlag = _zeroFlag;
@@ -2635,7 +2631,7 @@ Console.WriteLine(" JointCreateFixed");
2635 } 2631 }
2636 } 2632 }
2637 } 2633 }
2638 2634*/
2639 public Matrix4 FromDMass(d.Mass pMass) 2635 public Matrix4 FromDMass(d.Mass pMass)
2640 { 2636 {
2641 Matrix4 obj; 2637 Matrix4 obj;
@@ -2682,7 +2678,7 @@ Console.WriteLine(" JointCreateFixed");
2682 { 2678 {
2683 _parent_scene.remCollisionEventReporting(this); 2679 _parent_scene.remCollisionEventReporting(this);
2684 m_eventsubscription = 0; 2680 m_eventsubscription = 0;
2685 } 2681 }
2686 2682
2687 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact) 2683 public void AddCollisionEvent(uint CollidedWith, ContactPoint contact)
2688 { 2684 {
@@ -3038,15 +3034,17 @@ Console.WriteLine(" JointCreateFixed");
3038 } 3034 }
3039 3035
3040 }//end ProcessRotationVehicleParam 3036 }//end ProcessRotationVehicleParam
3041 3037
3042 internal void ProcessFlagsVehicleSet(int flags) 3038 internal void ProcessVehicleFlags(int pParam, bool remove)
3043 {
3044 m_flags |= (VehicleFlag)flags;
3045 }
3046
3047 internal void ProcessFlagsVehicleRemove(int flags)
3048 { 3039 {
3049 m_flags &= ~((VehicleFlag)flags); 3040 if (remove)
3041 {
3042 m_flags &= ~((VehicleFlag)pParam);
3043 }
3044 else
3045 {
3046 m_flags |= (VehicleFlag)pParam;
3047 }
3050 } 3048 }
3051 3049
3052 internal void ProcessTypeChange(Vehicle pType) 3050 internal void ProcessTypeChange(Vehicle pType)
@@ -3253,7 +3251,7 @@ Console.WriteLine(" JointCreateFixed");
3253 d.Vector3 vec = d.BodyGetPosition(Body); 3251 d.Vector3 vec = d.BodyGetPosition(Body);
3254 d.Quaternion ori = d.BodyGetQuaternion(Body); 3252 d.Quaternion ori = d.BodyGetQuaternion(Body);
3255 d.Vector3 vel = d.BodyGetLinearVel(Body); 3253 d.Vector3 vel = d.BodyGetLinearVel(Body);
3256 d.Vector3 rotvel = d.BodyGetAngularVel(Body); 3254 // d.Vector3 rotvel = d.BodyGetAngularVel(Body);
3257 d.Vector3 torque = d.BodyGetTorque(Body); 3255 d.Vector3 torque = d.BodyGetTorque(Body);
3258 _torque = new Vector3(torque.X, torque.Y, torque.Z); 3256 _torque = new Vector3(torque.X, torque.Y, torque.Z);
3259 Vector3 l_position = Vector3.Zero; 3257 Vector3 l_position = Vector3.Zero;
diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
index f43de48..880c3ea 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs
@@ -208,8 +208,7 @@ namespace OpenSim.Region.Physics.Manager
208 public abstract void VehicleFloatParam(int param, float value); 208 public abstract void VehicleFloatParam(int param, float value);
209 public abstract void VehicleVectorParam(int param, Vector3 value); 209 public abstract void VehicleVectorParam(int param, Vector3 value);
210 public abstract void VehicleRotationParam(int param, Quaternion rotation); 210 public abstract void VehicleRotationParam(int param, Quaternion rotation);
211 public abstract void VehicleFlagsSet(int flags); 211 public abstract void VehicleFlags(int param, bool remove);
212 public abstract void VehicleFlagsRemove(int flags);
213 212
214 public abstract void SetVolumeDetect(int param); // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more 213 public abstract void SetVolumeDetect(int param); // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
215 214
@@ -353,17 +352,12 @@ namespace OpenSim.Region.Physics.Manager
353 { 352 {
354 353
355 } 354 }
356
357 public override void VehicleFlagsSet(int flags)
358 {
359 355
360 } 356 public override void VehicleFlags(int param, bool remove)
361
362 public override void VehicleFlagsRemove(int flags)
363 { 357 {
364 358
365 } 359 }
366 360
367 public override void SetVolumeDetect(int param) 361 public override void SetVolumeDetect(int param)
368 { 362 {
369 363
diff --git a/OpenSim/Region/Physics/Manager/VehicleConstants.cs b/OpenSim/Region/Physics/Manager/VehicleConstants.cs
index 532e55e..f0775c1 100644
--- a/OpenSim/Region/Physics/Manager/VehicleConstants.cs
+++ b/OpenSim/Region/Physics/Manager/VehicleConstants.cs
@@ -91,7 +91,9 @@ namespace OpenSim.Region.Physics.Manager
91 BANKING_EFFICIENCY = 38, 91 BANKING_EFFICIENCY = 38,
92 BANKING_MIX = 39, 92 BANKING_MIX = 39,
93 BANKING_TIMESCALE = 40, 93 BANKING_TIMESCALE = 40,
94 REFERENCE_FRAME = 44 94 REFERENCE_FRAME = 44,
95 BLOCK_EXIT = 45,
96 ROLL_FRAME = 46
95 97
96 } 98 }
97 99
@@ -107,7 +109,13 @@ namespace OpenSim.Region.Physics.Manager
107 LIMIT_MOTOR_UP = 64, 109 LIMIT_MOTOR_UP = 64,
108 MOUSELOOK_STEER = 128, 110 MOUSELOOK_STEER = 128,
109 MOUSELOOK_BANK = 256, 111 MOUSELOOK_BANK = 256,
110 CAMERA_DECOUPLED = 512 112 CAMERA_DECOUPLED = 512,
113 NO_X = 1024,
114 NO_Y = 2048,
115 NO_Z = 4096,
116 LOCK_HOVER_HEIGHT = 8192,
117 NO_DEFLECTION = 16392,
118 LOCK_ROTATION = 32784
111 } 119 }
112 120
113} 121}
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
index b713142..2a66060 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
@@ -733,17 +733,12 @@ namespace OpenSim.Region.Physics.OdePlugin
733 { 733 {
734 734
735 } 735 }
736
737 public override void VehicleFlagsSet(int flags)
738 {
739 736
740 } 737 public override void VehicleFlags(int param, bool remove)
741
742 public override void VehicleFlagsRemove(int flags)
743 { 738 {
744 739
745 } 740 }
746 741
747 public override void SetVolumeDetect(int param) 742 public override void SetVolumeDetect(int param)
748 { 743 {
749 744
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
index 008070b..9beeabb 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEDynamics.cs
@@ -72,37 +72,40 @@ namespace OpenSim.Region.Physics.OdePlugin
72 72
73 73
74 // Vehicle properties 74 // Vehicle properties
75 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind 75 private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
76 // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier 76 // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
77 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: 77 private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
78 // HOVER_TERRAIN_ONLY 78 // HOVER_TERRAIN_ONLY
79 // HOVER_GLOBAL_HEIGHT 79 // HOVER_GLOBAL_HEIGHT
80 // NO_DEFLECTION_UP 80 // NO_DEFLECTION_UP
81 // HOVER_WATER_ONLY 81 // HOVER_WATER_ONLY
82 // HOVER_UP_ONLY 82 // HOVER_UP_ONLY
83 // LIMIT_MOTOR_UP 83 // LIMIT_MOTOR_UP
84 // LIMIT_ROLL_ONLY 84 // LIMIT_ROLL_ONLY
85 85 private VehicleFlag m_Hoverflags = (VehicleFlag)0;
86 private Vector3 m_BlockingEndPoint = Vector3.Zero;
87 private Quaternion m_RollreferenceFrame = Quaternion.Identity;
86 // Linear properties 88 // Linear properties
87 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time 89 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
88 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL 90 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
89 private Vector3 m_dir = Vector3.Zero; // velocity applied to body 91 private Vector3 m_dir = Vector3.Zero; // velocity applied to body
90 private Vector3 m_linearFrictionTimescale = Vector3.Zero; 92 private Vector3 m_linearFrictionTimescale = Vector3.Zero;
91 private float m_linearMotorDecayTimescale = 0; 93 private float m_linearMotorDecayTimescale = 0;
92 private float m_linearMotorTimescale = 0; 94 private float m_linearMotorTimescale = 0;
93 private Vector3 m_lastLinearVelocityVector = Vector3.Zero; 95 private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
96 private d.Vector3 m_lastPositionVector = new d.Vector3();
94 // private bool m_LinearMotorSetLastFrame = false; 97 // private bool m_LinearMotorSetLastFrame = false;
95 // private Vector3 m_linearMotorOffset = Vector3.Zero; 98 // private Vector3 m_linearMotorOffset = Vector3.Zero;
96 99
97 //Angular properties 100 //Angular properties
98 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor 101 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
99 private int m_angularMotorApply = 0; // application frame counter 102 private int m_angularMotorApply = 0; // application frame counter
100 private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity 103 private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
101 private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate 104 private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
102 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate 105 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
103 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate 106 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
104 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body 107 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
105 // private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body 108 // private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
106 109
107 //Deflection properties 110 //Deflection properties
108 // private float m_angularDeflectionEfficiency = 0; 111 // private float m_angularDeflectionEfficiency = 0;
@@ -120,14 +123,14 @@ namespace OpenSim.Region.Physics.OdePlugin
120// private float m_VhoverEfficiency = 0f; 123// private float m_VhoverEfficiency = 0f;
121 private float m_VhoverTimescale = 0f; 124 private float m_VhoverTimescale = 0f;
122 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height 125 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
123 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. 126 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
124 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) 127 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
125 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. 128 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
126 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. 129 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
127 130
128 //Attractor properties 131 //Attractor properties
129 private float m_verticalAttractionEfficiency = 1.0f; // damped 132 private float m_verticalAttractionEfficiency = 1.0f; // damped
130 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. 133 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
131 134
132 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) 135 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
133 { 136 {
@@ -255,6 +258,9 @@ namespace OpenSim.Region.Physics.OdePlugin
255 case Vehicle.LINEAR_MOTOR_OFFSET: 258 case Vehicle.LINEAR_MOTOR_OFFSET:
256 // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); 259 // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
257 break; 260 break;
261 case Vehicle.BLOCK_EXIT:
262 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
263 break;
258 } 264 }
259 }//end ProcessVectorVehicleParam 265 }//end ProcessVectorVehicleParam
260 266
@@ -265,15 +271,189 @@ namespace OpenSim.Region.Physics.OdePlugin
265 case Vehicle.REFERENCE_FRAME: 271 case Vehicle.REFERENCE_FRAME:
266 // m_referenceFrame = pValue; 272 // m_referenceFrame = pValue;
267 break; 273 break;
274 case Vehicle.ROLL_FRAME:
275 m_RollreferenceFrame = pValue;
276 break;
268 } 277 }
269 }//end ProcessRotationVehicleParam 278 }//end ProcessRotationVehicleParam
270 279
280 internal void ProcessVehicleFlags(int pParam, bool remove)
281 {
282 if (remove)
283 {
284 if (pParam == -1)
285 {
286 m_flags = (VehicleFlag)0;
287 m_Hoverflags = (VehicleFlag)0;
288 return;
289 }
290 if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
291 {
292 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0)
293 m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT);
294 }
295 if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
296 {
297 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0)
298 m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY);
299 }
300 if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
301 {
302 if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0)
303 m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY);
304 }
305 if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
306 {
307 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0)
308 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY);
309 }
310 if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
311 {
312 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0)
313 m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP);
314 }
315 if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY)
316 {
317 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0)
318 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
319 }
320 if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
321 {
322 if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0)
323 m_flags &= ~(VehicleFlag.MOUSELOOK_BANK);
324 }
325 if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
326 {
327 if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0)
328 m_flags &= ~(VehicleFlag.MOUSELOOK_STEER);
329 }
330 if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
331 {
332 if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0)
333 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP);
334 }
335 if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
336 {
337 if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0)
338 m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED);
339 }
340 if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
341 {
342 if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0)
343 m_flags &= ~(VehicleFlag.NO_X);
344 }
345 if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
346 {
347 if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0)
348 m_flags &= ~(VehicleFlag.NO_Y);
349 }
350 if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
351 {
352 if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0)
353 m_flags &= ~(VehicleFlag.NO_Z);
354 }
355 if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
356 {
357 if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0)
358 m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT);
359 }
360 if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
361 {
362 if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0)
363 m_flags &= ~(VehicleFlag.NO_DEFLECTION);
364 }
365 if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
366 {
367 if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0)
368 m_flags &= ~(VehicleFlag.LOCK_ROTATION);
369 }
370 }
371 else
372 {
373 if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT)
374 {
375 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags);
376 }
377 if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY)
378 {
379 m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags);
380 }
381 if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY)
382 {
383 m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags);
384 }
385 if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY)
386 {
387 m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags);
388 }
389 if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP)
390 {
391 m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags);
392 }
393 if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK)
394 {
395 m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags);
396 }
397 if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER)
398 {
399 m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags);
400 }
401 if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP)
402 {
403 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags);
404 }
405 if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED)
406 {
407 m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags);
408 }
409 if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X)
410 {
411 m_flags |= (VehicleFlag.NO_X);
412 }
413 if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y)
414 {
415 m_flags |= (VehicleFlag.NO_Y);
416 }
417 if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z)
418 {
419 m_flags |= (VehicleFlag.NO_Z);
420 }
421 if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT)
422 {
423 m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT);
424 }
425 if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION)
426 {
427 m_flags |= (VehicleFlag.NO_DEFLECTION);
428 }
429 if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION)
430 {
431 m_flags |= (VehicleFlag.LOCK_ROTATION);
432 }
433 }
434 }//end ProcessVehicleFlags
435
271 internal void ProcessTypeChange(Vehicle pType) 436 internal void ProcessTypeChange(Vehicle pType)
272 { 437 {
273 // Set Defaults For Type 438 // Set Defaults For Type
274 m_type = pType; 439 m_type = pType;
275 switch (pType) 440 switch (pType)
276 { 441 {
442 case Vehicle.TYPE_NONE:
443 m_linearFrictionTimescale = new Vector3(0, 0, 0);
444 m_angularFrictionTimescale = new Vector3(0, 0, 0);
445 m_linearMotorDirection = Vector3.Zero;
446 m_linearMotorTimescale = 0;
447 m_linearMotorDecayTimescale = 0;
448 m_angularMotorDirection = Vector3.Zero;
449 m_angularMotorTimescale = 0;
450 m_angularMotorDecayTimescale = 0;
451 m_VhoverHeight = 0;
452 m_VhoverTimescale = 0;
453 m_VehicleBuoyancy = 0;
454 m_flags = (VehicleFlag)0;
455 break;
456
277 case Vehicle.TYPE_SLED: 457 case Vehicle.TYPE_SLED:
278 m_linearFrictionTimescale = new Vector3(30, 1, 1000); 458 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
279 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); 459 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
@@ -295,9 +475,9 @@ namespace OpenSim.Region.Physics.OdePlugin
295 // m_bankingMix = 1; 475 // m_bankingMix = 1;
296 // m_bankingTimescale = 10; 476 // m_bankingTimescale = 10;
297 // m_referenceFrame = Quaternion.Identity; 477 // m_referenceFrame = Quaternion.Identity;
298 m_flags &= 478 m_Hoverflags &=
299 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 479 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
300 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 480 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
301 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); 481 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
302 break; 482 break;
303 case Vehicle.TYPE_CAR: 483 case Vehicle.TYPE_CAR:
@@ -323,9 +503,10 @@ namespace OpenSim.Region.Physics.OdePlugin
323 // m_bankingMix = 1; 503 // m_bankingMix = 1;
324 // m_bankingTimescale = 1; 504 // m_bankingTimescale = 1;
325 // m_referenceFrame = Quaternion.Identity; 505 // m_referenceFrame = Quaternion.Identity;
326 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); 506 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
327 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY | 507 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY |
328 VehicleFlag.LIMIT_MOTOR_UP); 508 VehicleFlag.LIMIT_MOTOR_UP);
509 m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY);
329 break; 510 break;
330 case Vehicle.TYPE_BOAT: 511 case Vehicle.TYPE_BOAT:
331 m_linearFrictionTimescale = new Vector3(10, 3, 2); 512 m_linearFrictionTimescale = new Vector3(10, 3, 2);
@@ -350,10 +531,12 @@ namespace OpenSim.Region.Physics.OdePlugin
350 // m_bankingMix = 0.8f; 531 // m_bankingMix = 0.8f;
351 // m_bankingTimescale = 1; 532 // m_bankingTimescale = 1;
352 // m_referenceFrame = Quaternion.Identity; 533 // m_referenceFrame = Quaternion.Identity;
353 m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY | 534 m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
354 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 535 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
355 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | 536 m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY);
537 m_flags |= (VehicleFlag.NO_DEFLECTION_UP |
356 VehicleFlag.LIMIT_MOTOR_UP); 538 VehicleFlag.LIMIT_MOTOR_UP);
539 m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY);
357 break; 540 break;
358 case Vehicle.TYPE_AIRPLANE: 541 case Vehicle.TYPE_AIRPLANE:
359 m_linearFrictionTimescale = new Vector3(200, 10, 5); 542 m_linearFrictionTimescale = new Vector3(200, 10, 5);
@@ -378,8 +561,9 @@ namespace OpenSim.Region.Physics.OdePlugin
378 // m_bankingMix = 0.7f; 561 // m_bankingMix = 0.7f;
379 // m_bankingTimescale = 2; 562 // m_bankingTimescale = 2;
380 // m_referenceFrame = Quaternion.Identity; 563 // m_referenceFrame = Quaternion.Identity;
381 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 564 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
382 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP); 565 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
566 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
383 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); 567 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
384 break; 568 break;
385 case Vehicle.TYPE_BALLOON: 569 case Vehicle.TYPE_BALLOON:
@@ -405,9 +589,11 @@ namespace OpenSim.Region.Physics.OdePlugin
405 // m_bankingMix = 0.7f; 589 // m_bankingMix = 0.7f;
406 // m_bankingTimescale = 5; 590 // m_bankingTimescale = 5;
407 // m_referenceFrame = Quaternion.Identity; 591 // m_referenceFrame = Quaternion.Identity;
408 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 592 m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
409 VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP); 593 VehicleFlag.HOVER_UP_ONLY);
410 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); 594 m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP);
595 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
596 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
411 break; 597 break;
412 598
413 } 599 }
@@ -431,6 +617,7 @@ namespace OpenSim.Region.Physics.OdePlugin
431 617
432 MoveLinear(pTimestep, pParentScene); 618 MoveLinear(pTimestep, pParentScene);
433 MoveAngular(pTimestep); 619 MoveAngular(pTimestep);
620 LimitRotation(pTimestep);
434 }// end Step 621 }// end Step
435 622
436 private void MoveLinear(float pTimestep, OdeScene _pParentScene) 623 private void MoveLinear(float pTimestep, OdeScene _pParentScene)
@@ -477,61 +664,152 @@ namespace OpenSim.Region.Physics.OdePlugin
477 // .Z velocity and gravity. Therefore only 0g will used script-requested 664 // .Z velocity and gravity. Therefore only 0g will used script-requested
478 // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. 665 // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
479 Vector3 grav = Vector3.Zero; 666 Vector3 grav = Vector3.Zero;
480 if (m_VehicleBuoyancy < 1.0f) 667 // There is some gravity, make a gravity force vector
668 // that is applied after object velocity.
669 d.Mass objMass;
670 d.BodyGetMass(Body, out objMass);
671 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
672 grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
673 // Preserve the current Z velocity
674 d.Vector3 vel_now = d.BodyGetLinearVel(Body);
675 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
676
677 d.Vector3 pos = d.BodyGetPosition(Body);
678 Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
679 Vector3 posChange = new Vector3();
680 posChange.X = pos.X - m_lastPositionVector.X;
681 posChange.Y = pos.Y - m_lastPositionVector.Y;
682 posChange.Z = pos.Z - m_lastPositionVector.Z;
683 double Zchange = Math.Abs(posChange.Z);
684 if (m_BlockingEndPoint != Vector3.Zero)
685 {
686 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
687 {
688 pos.X -= posChange.X + 1;
689 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
690 }
691 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
692 {
693 pos.Y -= posChange.Y + 1;
694 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
695 }
696 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
697 {
698 pos.Z -= posChange.Z + 1;
699 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
700 }
701 if (pos.X <= 0)
702 {
703 pos.X += posChange.X + 1;
704 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
705 }
706 if (pos.Y <= 0)
707 {
708 pos.Y += posChange.Y + 1;
709 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
710 }
711 }
712 if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
481 { 713 {
482 // There is some gravity, make a gravity force vector 714 pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
483 // that is applied after object velocity. 715 d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
484 d.Mass objMass; 716 }
485 d.BodyGetMass(Body, out objMass);
486 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
487 grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
488 // Preserve the current Z velocity
489 d.Vector3 vel_now = d.BodyGetLinearVel(Body);
490 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
491 } // else its 1.0, no gravity.
492 717
493 // Check if hovering 718 // Check if hovering
494 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) 719 if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
495 { 720 {
496 // We should hover, get the target height 721 // We should hover, get the target height
497 d.Vector3 pos = d.BodyGetPosition(Body); 722 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
498 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY)
499 { 723 {
500 m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight; 724 m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight;
501 } 725 }
502 else if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY) 726 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
503 { 727 {
504 m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; 728 m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
505 } 729 }
506 else if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT) 730 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
507 { 731 {
508 m_VhoverTargetHeight = m_VhoverHeight; 732 m_VhoverTargetHeight = m_VhoverHeight;
509 } 733 }
510 734
511 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY) 735 if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0)
512 { 736 {
513 // If body is aready heigher, use its height as target height 737 // If body is aready heigher, use its height as target height
514 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; 738 if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
515 } 739 }
740 if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
741 {
742 if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
743 {
744 d.BodySetPosition(Body, pos.X, pos.Y, m_VhoverTargetHeight);
745 }
746 }
747 else
748 {
749 float herr0 = pos.Z - m_VhoverTargetHeight;
750 // Replace Vertical speed with correction figure if significant
751 if (Math.Abs(herr0) > 0.01f)
752 {
753 m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
754 //KF: m_VhoverEfficiency is not yet implemented
755 }
756 else
757 {
758 m_dir.Z = 0f;
759 }
760 }
516 761
517// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped 762// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
518// m_VhoverTimescale = 0f; // time to acheive height 763// m_VhoverTimescale = 0f; // time to acheive height
519// pTimestep is time since last frame,in secs 764// pTimestep is time since last frame,in secs
520 float herr0 = pos.Z - m_VhoverTargetHeight; 765 }
521 // Replace Vertical speed with correction figure if significant 766
522 if (Math.Abs(herr0) > 0.01f) 767 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
768 {
769 //Start Experimental Values
770 if (Zchange > .3)
523 { 771 {
524 d.Mass objMass; 772 grav.Z = (float)(grav.Z * 3);
525 d.BodyGetMass(Body, out objMass);
526 m_dir.Z = - ((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
527 //KF: m_VhoverEfficiency is not yet implemented
528 } 773 }
529 else 774 if (Zchange > .15)
775 {
776 grav.Z = (float)(grav.Z * 2);
777 }
778 if (Zchange > .75)
779 {
780 grav.Z = (float)(grav.Z * 1.5);
781 }
782 if (Zchange > .05)
783 {
784 grav.Z = (float)(grav.Z * 1.25);
785 }
786 if (Zchange > .025)
787 {
788 grav.Z = (float)(grav.Z * 1.125);
789 }
790 float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y);
791 float postemp = (pos.Z - terraintemp);
792 if (postemp > 2.5f)
530 { 793 {
531 m_dir.Z = 0f; 794 grav.Z = (float)(grav.Z * 1.037125);
532 } 795 }
796 //End Experimental Values
797 }
798 if ((m_flags & (VehicleFlag.NO_X)) != 0)
799 {
800 m_dir.X = 0;
801 }
802 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
803 {
804 m_dir.Y = 0;
805 }
806 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
807 {
808 m_dir.Z = 0;
533 } 809 }
534 810
811 m_lastPositionVector = d.BodyGetPosition(Body);
812
535 // Apply velocity 813 // Apply velocity
536 d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z); 814 d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
537 // apply gravity force 815 // apply gravity force
@@ -629,6 +907,12 @@ namespace OpenSim.Region.Physics.OdePlugin
629 907
630 // Sum velocities 908 // Sum velocities
631 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection 909 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection
910
911 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
912 {
913 m_lastAngularVelocity.X = 0;
914 m_lastAngularVelocity.Y = 0;
915 }
632 916
633 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) 917 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
634 { 918 {
@@ -647,5 +931,44 @@ namespace OpenSim.Region.Physics.OdePlugin
647 d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); 931 d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
648 932
649 } //end MoveAngular 933 } //end MoveAngular
934 internal void LimitRotation(float timestep)
935 {
936 d.Quaternion rot = d.BodyGetQuaternion(Body);
937 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
938 d.Quaternion m_rot = new d.Quaternion();
939 bool changed = false;
940 m_rot.X = rotq.X;
941 m_rot.Y = rotq.Y;
942 m_rot.Z = rotq.Z;
943 m_rot.W = rotq.W;
944 if (m_RollreferenceFrame != Quaternion.Identity)
945 {
946 if (rotq.X >= m_RollreferenceFrame.X)
947 {
948 m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
949 }
950 if (rotq.Y >= m_RollreferenceFrame.Y)
951 {
952 m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
953 }
954 if (rotq.X <= -m_RollreferenceFrame.X)
955 {
956 m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
957 }
958 if (rotq.Y <= -m_RollreferenceFrame.Y)
959 {
960 m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
961 }
962 changed = true;
963 }
964 if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
965 {
966 m_rot.X = 0;
967 m_rot.Y = 0;
968 changed = true;
969 }
970 if (changed)
971 d.BodySetQuaternion(Body, ref m_rot);
972 }
650 } 973 }
651} 974}
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
index f354328..2ab00a3 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
@@ -2354,15 +2354,10 @@ Console.WriteLine(" JointCreateFixed");
2354 { 2354 {
2355 m_vehicle.ProcessRotationVehicleParam((Vehicle) param, rotation); 2355 m_vehicle.ProcessRotationVehicleParam((Vehicle) param, rotation);
2356 } 2356 }
2357
2358 public override void VehicleFlagsSet(int flags)
2359 {
2360 2357
2361 } 2358 public override void VehicleFlags(int param, bool remove)
2362
2363 public override void VehicleFlagsRemove(int flags)
2364 { 2359 {
2365 2360 m_vehicle.ProcessVehicleFlags(param, remove);
2366 } 2361 }
2367 2362
2368 public override void SetVolumeDetect(int param) 2363 public override void SetVolumeDetect(int param)
diff --git a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
index 491e200..a70179b 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
@@ -181,17 +181,9 @@ namespace OpenSim.Region.Physics.POSPlugin
181 { 181 {
182 182
183 } 183 }
184
185 public override void VehicleFlagsSet(int flags)
186 {
187 184
188 } 185 public override void VehicleFlags(int param, bool remove) { }
189
190 public override void VehicleFlagsRemove(int flags)
191 {
192 186
193 }
194
195 public override void SetVolumeDetect(int param) 187 public override void SetVolumeDetect(int param)
196 { 188 {
197 189
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
index f8d49f9..9ba5ebb 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
@@ -138,17 +138,9 @@ namespace OpenSim.Region.Physics.POSPlugin
138 { 138 {
139 139
140 } 140 }
141
142 public override void VehicleFlagsSet(int flags)
143 {
144 141
145 } 142 public override void VehicleFlags(int param, bool remove) { }
146
147 public override void VehicleFlagsRemove(int flags)
148 {
149 143
150 }
151
152 public override void SetVolumeDetect(int param) 144 public override void SetVolumeDetect(int param)
153 { 145 {
154 146
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXCharacter.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXCharacter.cs
new file mode 100644
index 0000000..92261cd
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXCharacter.cs
@@ -0,0 +1,353 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using Nini.Config;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using PhysXWrapper;
34using Quaternion=OpenMetaverse.Quaternion;
35using System.Reflection;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.PhysXPlugin
40{
41 public class PhysXCharacter : PhysicsActor
42 {
43 private Vector3 _position;
44 private Vector3 _velocity;
45 private Vector3 m_rotationalVelocity = Vector3.Zero;
46 private Vector3 _acceleration;
47 private NxCharacter _character;
48 private bool flying;
49 private bool iscolliding = false;
50 private float gravityAccel;
51
52 public PhysXCharacter(NxCharacter character)
53 {
54 _character = character;
55 }
56
57 public override int PhysicsActorType
58 {
59 get { return (int) ActorTypes.Agent; }
60 set { return; }
61 }
62
63 public override bool SetAlwaysRun
64 {
65 get { return false; }
66 set { return; }
67 }
68
69 public override uint LocalID
70 {
71 set { return; }
72 }
73
74 public override bool Grabbed
75 {
76 set { return; }
77 }
78
79 public override bool Selected
80 {
81 set { return; }
82 }
83
84 public override float Buoyancy
85 {
86 get { return 0f; }
87 set { return; }
88 }
89
90 public override bool FloatOnWater
91 {
92 set { return; }
93 }
94
95 public override bool IsPhysical
96 {
97 get { return false; }
98 set { return; }
99 }
100
101 public override bool ThrottleUpdates
102 {
103 get { return false; }
104 set { return; }
105 }
106
107 public override bool Flying
108 {
109 get { return flying; }
110 set { flying = value; }
111 }
112
113 public override bool IsColliding
114 {
115 get { return iscolliding; }
116 set { iscolliding = value; }
117 }
118
119 public override bool CollidingGround
120 {
121 get { return false; }
122 set { return; }
123 }
124
125 public override bool CollidingObj
126 {
127 get { return false; }
128 set { return; }
129 }
130
131 public override Vector3 RotationalVelocity
132 {
133 get { return m_rotationalVelocity; }
134 set { m_rotationalVelocity = value; }
135 }
136
137 public override bool Stopped
138 {
139 get { return false; }
140 }
141
142 public override Vector3 Position
143 {
144 get { return _position; }
145 set
146 {
147 _position = value;
148 Vec3 ps = new Vec3();
149 ps.X = value.X;
150 ps.Y = value.Y;
151 ps.Z = value.Z;
152 _character.Position = ps;
153 }
154 }
155
156 public override Vector3 Size
157 {
158 get { return Vector3.Zero; }
159 set { }
160 }
161
162 public override float Mass
163 {
164 get { return 0f; }
165 }
166
167 public override Vector3 Force
168 {
169 get { return Vector3.Zero; }
170 set { return; }
171 }
172
173 public override int VehicleType
174 {
175 get { return 0; }
176 set { return; }
177 }
178
179 public override void VehicleFloatParam(int param, float value)
180 {
181 }
182
183 public override void VehicleVectorParam(int param, Vector3 value)
184 {
185 }
186
187 public override void VehicleRotationParam(int param, Quaternion rotation)
188 {
189 }
190
191 public override void VehicleFlags(int param, bool remove)
192 {
193 }
194
195 public override void SetVolumeDetect(int param)
196 {
197 }
198
199 public override Vector3 CenterOfMass
200 {
201 get { return Vector3.Zero; }
202 }
203
204 public override Vector3 GeometricCenter
205 {
206 get { return Vector3.Zero; }
207 }
208
209 public override Vector3 Velocity
210 {
211 get { return _velocity; }
212 set { _velocity = value; }
213 }
214
215 public override float CollisionScore
216 {
217 get { return 0f; }
218 set { }
219 }
220
221 public override bool Kinematic
222 {
223 get { return false; }
224 set { }
225 }
226
227 public override Quaternion Orientation
228 {
229 get { return Quaternion.Identity; }
230 set { }
231 }
232
233 public override Vector3 Acceleration
234 {
235 get { return _acceleration; }
236 }
237
238 public void SetAcceleration(Vector3 accel)
239 {
240 _acceleration = accel;
241 }
242
243 public override void AddForce(Vector3 force, bool pushforce)
244 {
245 }
246
247 public override Vector3 Torque
248 {
249 get { return Vector3.Zero; }
250 set { return; }
251 }
252
253 public override void AddAngularForce(Vector3 force, bool pushforce)
254 {
255 }
256
257 public override void link(PhysicsActor obj)
258 {
259 }
260
261 public override void delink()
262 {
263 }
264
265 public override void LockAngularMotion(Vector3 axis)
266 {
267 }
268
269 public override void SetMomentum(Vector3 momentum)
270 {
271 }
272
273 public void Move(float timeStep)
274 {
275 Vec3 vec = new Vec3();
276 vec.X = _velocity.X*timeStep;
277 vec.Y = _velocity.Y*timeStep;
278 if (flying)
279 {
280 vec.Z = (_velocity.Z)*timeStep;
281 }
282 else
283 {
284 gravityAccel += -9.8f;
285 vec.Z = (gravityAccel + _velocity.Z)*timeStep;
286 }
287 int res = _character.Move(vec);
288 if (res == 1)
289 {
290 gravityAccel = 0;
291 }
292 }
293
294 public override PrimitiveBaseShape Shape
295 {
296 set { return; }
297 }
298
299 public void UpdatePosition()
300 {
301 Vec3 vec = _character.Position;
302 _position.X = vec.X;
303 _position.Y = vec.Y;
304 _position.Z = vec.Z;
305 }
306
307 public override void CrossingFailure()
308 {
309 }
310
311 public override Vector3 PIDTarget { set { return; } }
312 public override bool PIDActive { set { return; } }
313 public override float PIDTau { set { return; } }
314
315 public override float PIDHoverHeight { set { return; } }
316 public override bool PIDHoverActive { set { return; } }
317 public override PIDHoverType PIDHoverType { set { return; } }
318 public override float PIDHoverTau { set { return; } }
319
320 public override Quaternion APIDTarget
321 {
322 set { return; }
323 }
324
325 public override bool APIDActive
326 {
327 set { return; }
328 }
329
330 public override float APIDStrength
331 {
332 set { return; }
333 }
334
335 public override float APIDDamping
336 {
337 set { return; }
338 }
339
340 public override void SubscribeEvents(int ms)
341 {
342
343 }
344 public override void UnSubscribeEvents()
345 {
346
347 }
348 public override bool SubscribedEvents()
349 {
350 return false;
351 }
352 }
353}
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
deleted file mode 100644
index e54065c..0000000
--- a/OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
+++ /dev/null
@@ -1,861 +0,0 @@
1/*/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using Nini.Config;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using PhysXWrapper;
34using Quaternion=OpenMetaverse.Quaternion;
35using System.Reflection;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.PhysXPlugin
40{
41 /// <summary>
42 /// Will be the PhysX plugin but for now will be a very basic physics engine
43 /// </summary>
44 public class PhysXPlugin : IPhysicsPlugin
45 {
46 //private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
47 private PhysXScene _mScene;
48
49 public PhysXPlugin()
50 {
51 }
52
53 public bool Init()
54 {
55 return true;
56 }
57
58 public PhysicsScene GetScene(string sceneIdentifier)
59 {
60 if (_mScene == null)
61 {
62 _mScene = new PhysXScene(sceneIdentifier);
63 }
64 return (_mScene);
65 }
66
67 public string GetName()
68 {
69 return ("RealPhysX");
70 }
71
72 public void Dispose()
73 {
74 }
75 }
76
77 public class PhysXScene : PhysicsScene
78 {
79 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
80 private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
81 private List<PhysXPrim> _prims = new List<PhysXPrim>();
82 private float[] _heightMap = null;
83 private NxPhysicsSDK mySdk;
84 private NxScene scene;
85
86 // protected internal string sceneIdentifier;
87 public PhysXScene(string _sceneIdentifier)
88 {
89 //sceneIdentifier = _sceneIdentifier;
90
91 mySdk = NxPhysicsSDK.CreateSDK();
92 m_log.Info("Sdk created - now creating scene");
93 scene = mySdk.CreateScene();
94 }
95
96 public override void Initialise(IMesher meshmerizer, IConfigSource config)
97 {
98 // Does nothing right now
99 }
100 public override void Dispose()
101 {
102
103 }
104
105 public override void SetWaterLevel(float baseheight)
106 {
107
108 }
109
110 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
111 {
112 Vec3 pos = new Vec3();
113 pos.X = position.X;
114 pos.Y = position.Y;
115 pos.Z = position.Z;
116 PhysXCharacter act = new PhysXCharacter(scene.AddCharacter(pos));
117 act.Flying = isFlying;
118 act.Position = position;
119 _characters.Add(act);
120 return act;
121 }
122
123 public override void RemovePrim(PhysicsActor prim)
124 {
125 }
126
127 public override void RemoveAvatar(PhysicsActor actor)
128 {
129 }
130
131 private PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
132 {
133 Vec3 pos = new Vec3();
134 pos.X = position.X;
135 pos.Y = position.Y;
136 pos.Z = position.Z;
137 Vec3 siz = new Vec3();
138 siz.X = size.X;
139 siz.Y = size.Y;
140 siz.Z = size.Z;
141 PhysXPrim act = new PhysXPrim(scene.AddNewBox(pos, siz));
142 _prims.Add(act);
143 return act;
144 }
145
146 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
147 Vector3 size, Quaternion rotation) //To be removed
148 {
149 return AddPrimShape(primName, pbs, position, size, rotation, false);
150 }
151
152 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
153 Vector3 size, Quaternion rotation, bool isPhysical)
154 {
155 return AddPrim(position, size, rotation);
156 }
157
158 public override void AddPhysicsActorTaint(PhysicsActor prim)
159 {
160 }
161
162 public override float Simulate(float timeStep)
163 {
164 float fps = 0f;
165 try
166 {
167 foreach (PhysXCharacter actor in _characters)
168 {
169 actor.Move(timeStep);
170 }
171 scene.Simulate(timeStep);
172 scene.FetchResults();
173 scene.UpdateControllers();
174
175 foreach (PhysXCharacter actor in _characters)
176 {
177 actor.UpdatePosition();
178 }
179 }
180 catch (Exception e)
181 {
182 m_log.Error(e.Message);
183 }
184 return fps;
185 }
186
187 public override void GetResults()
188 {
189 }
190
191 public override bool IsThreaded
192 {
193 get { return (false); // for now we won't be multithreaded
194 }
195 }
196
197 public override void SetTerrain(float[] heightMap)
198 {
199 if (_heightMap != null)
200 {
201 m_log.Debug("PhysX - deleting old terrain");
202 scene.DeleteTerrain();
203 }
204 _heightMap = heightMap;
205 scene.AddTerrain(heightMap);
206 }
207
208 public override void DeleteTerrain()
209 {
210 scene.DeleteTerrain();
211 }
212
213 public override Dictionary<uint, float> GetTopColliders()
214 {
215 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
216 return returncolliders;
217 }
218
219 }
220
221 public class PhysXCharacter : PhysicsActor
222 {
223 private Vector3 _position;
224 private Vector3 _velocity;
225 private Vector3 m_rotationalVelocity = Vector3.Zero;
226 private Vector3 _acceleration;
227 private NxCharacter _character;
228 private bool flying;
229 private bool iscolliding = false;
230 private float gravityAccel;
231
232 public PhysXCharacter(NxCharacter character)
233 {
234 _character = character;
235 }
236
237 public override int PhysicsActorType
238 {
239 get { return (int) ActorTypes.Agent; }
240 set { return; }
241 }
242
243 public override bool SetAlwaysRun
244 {
245 get { return false; }
246 set { return; }
247 }
248
249 public override uint LocalID
250 {
251 set { return; }
252 }
253
254 public override bool Grabbed
255 {
256 set { return; }
257 }
258
259 public override bool Selected
260 {
261 set { return; }
262 }
263
264 public override float Buoyancy
265 {
266 get { return 0f; }
267 set { return; }
268 }
269
270 public override bool FloatOnWater
271 {
272 set { return; }
273 }
274
275 public override bool IsPhysical
276 {
277 get { return false; }
278 set { return; }
279 }
280
281 public override bool ThrottleUpdates
282 {
283 get { return false; }
284 set { return; }
285 }
286
287 public override bool Flying
288 {
289 get { return flying; }
290 set { flying = value; }
291 }
292
293 public override bool IsColliding
294 {
295 get { return iscolliding; }
296 set { iscolliding = value; }
297 }
298
299 public override bool CollidingGround
300 {
301 get { return false; }
302 set { return; }
303 }
304
305 public override bool CollidingObj
306 {
307 get { return false; }
308 set { return; }
309 }
310
311 public override Vector3 RotationalVelocity
312 {
313 get { return m_rotationalVelocity; }
314 set { m_rotationalVelocity = value; }
315 }
316
317 public override bool Stopped
318 {
319 get { return false; }
320 }
321
322 public override Vector3 Position
323 {
324 get { return _position; }
325 set
326 {
327 _position = value;
328 Vec3 ps = new Vec3();
329 ps.X = value.X;
330 ps.Y = value.Y;
331 ps.Z = value.Z;
332 _character.Position = ps;
333 }
334 }
335
336 public override Vector3 Size
337 {
338 get { return Vector3.Zero; }
339 set { }
340 }
341
342 public override float Mass
343 {
344 get { return 0f; }
345 }
346
347 public override Vector3 Force
348 {
349 get { return Vector3.Zero; }
350 set { return; }
351 }
352
353 public override int VehicleType
354 {
355 get { return 0; }
356 set { return; }
357 }
358
359 public override void VehicleFloatParam(int param, float value)
360 {
361
362 }
363
364 public override void VehicleVectorParam(int param, Vector3 value)
365 {
366
367 }
368
369 public override void VehicleRotationParam(int param, Quaternion rotation)
370 {
371
372 }
373
374 public override void VehicleFlagsSet(int flags)
375 {
376
377 }
378
379 public override void VehicleFlagsRemove(int flags)
380 {
381
382 }
383
384 public override void SetVolumeDetect(int param)
385 {
386
387 }
388
389
390 public override Vector3 CenterOfMass
391 {
392 get { return Vector3.Zero; }
393 }
394
395 public override Vector3 GeometricCenter
396 {
397 get { return Vector3.Zero; }
398 }
399
400 public override Vector3 Velocity
401 {
402 get { return _velocity; }
403 set { _velocity = value; }
404 }
405
406 public override float CollisionScore
407 {
408 get { return 0f; }
409 set { }
410 }
411
412 public override bool Kinematic
413 {
414 get { return false; }
415 set { }
416 }
417
418 public override Quaternion Orientation
419 {
420 get { return Quaternion.Identity; }
421 set { }
422 }
423
424 public override Vector3 Acceleration
425 {
426 get { return _acceleration; }
427 }
428
429 public void SetAcceleration(Vector3 accel)
430 {
431 _acceleration = accel;
432 }
433
434 public override void AddForce(Vector3 force, bool pushforce)
435 {
436 }
437 public override Vector3 Torque
438 {
439 get { return Vector3.Zero; }
440 set { return; }
441 }
442 public override void AddAngularForce(Vector3 force, bool pushforce)
443 {
444 }
445
446 public override void link(PhysicsActor obj)
447 {
448
449 }
450
451 public override void delink()
452 {
453
454 }
455
456 public override void LockAngularMotion(Vector3 axis)
457 {
458
459 }
460
461 public override void SetMomentum(Vector3 momentum)
462 {
463 }
464
465 public void Move(float timeStep)
466 {
467 Vec3 vec = new Vec3();
468 vec.X = _velocity.X*timeStep;
469 vec.Y = _velocity.Y*timeStep;
470 if (flying)
471 {
472 vec.Z = (_velocity.Z)*timeStep;
473 }
474 else
475 {
476 gravityAccel += -9.8f;
477 vec.Z = (gravityAccel + _velocity.Z)*timeStep;
478 }
479 int res = _character.Move(vec);
480 if (res == 1)
481 {
482 gravityAccel = 0;
483 }
484 }
485
486 public override PrimitiveBaseShape Shape
487 {
488 set { return; }
489 }
490
491 public void UpdatePosition()
492 {
493 Vec3 vec = _character.Position;
494 _position.X = vec.X;
495 _position.Y = vec.Y;
496 _position.Z = vec.Z;
497 }
498 public override void CrossingFailure()
499 {
500
501 }
502
503 public override Vector3 PIDTarget { set { return; } }
504 public override bool PIDActive { set { return; } }
505 public override float PIDTau { set { return; } }
506
507 public override float PIDHoverHeight { set { return; } }
508 public override bool PIDHoverActive { set { return; } }
509 public override PIDHoverType PIDHoverType { set { return; } }
510 public override float PIDHoverTau { set { return; } }
511
512 public override Quaternion APIDTarget
513 {
514 set { return; }
515 }
516
517 public override bool APIDActive
518 {
519 set { return; }
520 }
521
522 public override float APIDStrength
523 {
524 set { return; }
525 }
526
527 public override float APIDDamping
528 {
529 set { return; }
530 }
531
532
533
534 public override void SubscribeEvents(int ms)
535 {
536
537 }
538 public override void UnSubscribeEvents()
539 {
540
541 }
542 public override bool SubscribedEvents()
543 {
544 return false;
545 }
546 }
547
548
549 public class PhysXPrim : PhysicsActor
550 {
551 private Vector3 _velocity;
552 private Vector3 _acceleration;
553 private Vector3 m_rotationalVelocity;
554 private NxActor _prim;
555
556 public PhysXPrim(NxActor prim)
557 {
558 _velocity = Vector3.Zero;
559 _acceleration = Vector3.Zero;
560 _prim = prim;
561 }
562
563 public override int PhysicsActorType
564 {
565 get { return (int) ActorTypes.Prim; }
566 set { return; }
567 }
568
569 public override bool IsPhysical
570 {
571 get { return false; }
572 set { return; }
573 }
574
575 public override bool SetAlwaysRun
576 {
577 get { return false; }
578 set { return; }
579 }
580
581 public override uint LocalID
582 {
583 set { return; }
584 }
585
586 public override bool Grabbed
587 {
588 set { return; }
589 }
590
591 public override bool Selected
592 {
593 set { return; }
594 }
595
596 public override float Buoyancy
597 {
598 get { return 0f; }
599 set { return; }
600 }
601
602 public override bool FloatOnWater
603 {
604 set { return; }
605 }
606
607 public override bool ThrottleUpdates
608 {
609 get { return false; }
610 set { return; }
611 }
612
613 public override Vector3 RotationalVelocity
614 {
615 get { return m_rotationalVelocity; }
616 set { m_rotationalVelocity = value; }
617 }
618
619 public override bool Flying
620 {
621 get { return false; //no flying prims for you
622 }
623 set { }
624 }
625
626 public override bool IsColliding
627 {
628 get { return false; }
629 set { }
630 }
631
632 public override bool CollidingGround
633 {
634 get { return false; }
635 set { return; }
636 }
637
638 public override bool CollidingObj
639 {
640 get { return false; }
641 set { return; }
642 }
643
644 public override bool Stopped
645 {
646 get { return false; }
647 }
648
649 public override Vector3 Position
650 {
651 get
652 {
653 Vector3 pos = Vector3.Zero;
654 Vec3 vec = _prim.Position;
655 pos.X = vec.X;
656 pos.Y = vec.Y;
657 pos.Z = vec.Z;
658 return pos;
659 }
660 set
661 {
662 Vector3 vec = value;
663 Vec3 pos = new Vec3();
664 pos.X = vec.X;
665 pos.Y = vec.Y;
666 pos.Z = vec.Z;
667 _prim.Position = pos;
668 }
669 }
670
671 public override PrimitiveBaseShape Shape
672 {
673 set { return; }
674 }
675
676 public override Vector3 Velocity
677 {
678 get { return _velocity; }
679 set { _velocity = value; }
680 }
681
682 public override Vector3 Torque
683 {
684 get { return Vector3.Zero; }
685 set { return; }
686 }
687
688 public override float CollisionScore
689 {
690 get { return 0f; }
691 set { }
692 }
693
694 public override bool Kinematic
695 {
696 get { return _prim.Kinematic; }
697 set { _prim.Kinematic = value; }
698 }
699
700 public override Quaternion Orientation
701 {
702 get
703 {
704 Quaternion res;
705 PhysXWrapper.Quaternion quat = _prim.GetOrientation();
706 res.W = quat.W;
707 res.X = quat.X;
708 res.Y = quat.Y;
709 res.Z = quat.Z;
710 return res;
711 }
712 set { }
713 }
714
715 public override Vector3 Acceleration
716 {
717 get { return _acceleration; }
718 }
719
720 public void SetAcceleration(Vector3 accel)
721 {
722 _acceleration = accel;
723 }
724
725 public override void AddForce(Vector3 force, bool pushforce)
726 {
727 }
728
729 public override void AddAngularForce(Vector3 force, bool pushforce)
730 {
731 }
732
733 public override void SetMomentum(Vector3 momentum)
734 {
735 }
736
737 public override Vector3 Size
738 {
739 get { return Vector3.Zero; }
740 set { }
741 }
742
743 public override void link(PhysicsActor obj)
744 {
745 }
746
747 public override void delink()
748 {
749 }
750
751 public override void LockAngularMotion(Vector3 axis)
752 {
753
754 }
755
756 public override float Mass
757 {
758 get { return 0f; }
759 }
760
761 public override Vector3 Force
762 {
763 get { return Vector3.Zero; }
764 set { return; }
765 }
766
767 public override int VehicleType
768 {
769 get { return 0; }
770 set { return; }
771 }
772
773 public override void VehicleFloatParam(int param, float value)
774 {
775
776 }
777
778 public override void VehicleVectorParam(int param, Vector3 value)
779 {
780
781 }
782
783 public override void VehicleRotationParam(int param, Quaternion rotation)
784 {
785
786 }
787
788 public override void VehicleFlagsSet(int flags)
789 {
790
791 }
792
793 public override void VehicleFlagsRemove(int flags)
794 {
795
796 }
797
798 public override void SetVolumeDetect(int param)
799 {
800
801 }
802
803 public override Vector3 CenterOfMass
804 {
805 get { return Vector3.Zero; }
806 }
807
808 public override Vector3 GeometricCenter
809 {
810 get { return Vector3.Zero; }
811 }
812
813 public override void CrossingFailure()
814 {
815 }
816
817 public override Vector3 PIDTarget { set { return; } }
818 public override bool PIDActive { set { return; } }
819 public override float PIDTau { set { return; } }
820
821 public override float PIDHoverHeight { set { return; } }
822 public override bool PIDHoverActive { set { return; } }
823 public override PIDHoverType PIDHoverType { set { return; } }
824 public override float PIDHoverTau { set { return; } }
825
826 public override Quaternion APIDTarget
827 {
828 set { return; }
829 }
830
831 public override bool APIDActive
832 {
833 set { return; }
834 }
835
836 public override float APIDStrength
837 {
838 set { return; }
839 }
840
841 public override float APIDDamping
842 {
843 set { return; }
844 }
845
846
847
848 public override void SubscribeEvents(int ms)
849 {
850
851 }
852 public override void UnSubscribeEvents()
853 {
854
855 }
856 public override bool SubscribedEvents()
857 {
858 return false;
859 }
860 }
861}
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXPrim.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXPrim.cs
new file mode 100644
index 0000000..d1b5b7e
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXPrim.cs
@@ -0,0 +1,349 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using Nini.Config;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using PhysXWrapper;
34using Quaternion=OpenMetaverse.Quaternion;
35using System.Reflection;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.PhysXPlugin
40{
41 public class PhysXPrim : PhysicsActor
42 {
43 private Vector3 _velocity;
44 private Vector3 _acceleration;
45 private Vector3 m_rotationalVelocity;
46 private NxActor _prim;
47
48 public PhysXPrim(NxActor prim)
49 {
50 _velocity = Vector3.Zero;
51 _acceleration = Vector3.Zero;
52 _prim = prim;
53 }
54
55 public override int PhysicsActorType
56 {
57 get { return (int) ActorTypes.Prim; }
58 set { return; }
59 }
60
61 public override bool IsPhysical
62 {
63 get { return false; }
64 set { return; }
65 }
66
67 public override bool SetAlwaysRun
68 {
69 get { return false; }
70 set { return; }
71 }
72
73 public override uint LocalID
74 {
75 set { return; }
76 }
77
78 public override bool Grabbed
79 {
80 set { return; }
81 }
82
83 public override bool Selected
84 {
85 set { return; }
86 }
87
88 public override float Buoyancy
89 {
90 get { return 0f; }
91 set { return; }
92 }
93
94 public override bool FloatOnWater
95 {
96 set { return; }
97 }
98
99 public override bool ThrottleUpdates
100 {
101 get { return false; }
102 set { return; }
103 }
104
105 public override Vector3 RotationalVelocity
106 {
107 get { return m_rotationalVelocity; }
108 set { m_rotationalVelocity = value; }
109 }
110
111 public override bool Flying
112 {
113 get { return false; //no flying prims for you
114 }
115 set { }
116 }
117
118 public override bool IsColliding
119 {
120 get { return false; }
121 set { }
122 }
123
124 public override bool CollidingGround
125 {
126 get { return false; }
127 set { return; }
128 }
129
130 public override bool CollidingObj
131 {
132 get { return false; }
133 set { return; }
134 }
135
136 public override bool Stopped
137 {
138 get { return false; }
139 }
140
141 public override Vector3 Position
142 {
143 get
144 {
145 Vector3 pos = Vector3.Zero;
146 Vec3 vec = _prim.Position;
147 pos.X = vec.X;
148 pos.Y = vec.Y;
149 pos.Z = vec.Z;
150 return pos;
151 }
152 set
153 {
154 Vector3 vec = value;
155 Vec3 pos = new Vec3();
156 pos.X = vec.X;
157 pos.Y = vec.Y;
158 pos.Z = vec.Z;
159 _prim.Position = pos;
160 }
161 }
162
163 public override PrimitiveBaseShape Shape
164 {
165 set { return; }
166 }
167
168 public override Vector3 Velocity
169 {
170 get { return _velocity; }
171 set { _velocity = value; }
172 }
173
174 public override Vector3 Torque
175 {
176 get { return Vector3.Zero; }
177 set { return; }
178 }
179
180 public override float CollisionScore
181 {
182 get { return 0f; }
183 set { }
184 }
185
186 public override bool Kinematic
187 {
188 get { return _prim.Kinematic; }
189 set { _prim.Kinematic = value; }
190 }
191
192 public override Quaternion Orientation
193 {
194 get
195 {
196 Quaternion res;
197 PhysXWrapper.Quaternion quat = _prim.GetOrientation();
198 res.W = quat.W;
199 res.X = quat.X;
200 res.Y = quat.Y;
201 res.Z = quat.Z;
202 return res;
203 }
204 set { }
205 }
206
207 public override Vector3 Acceleration
208 {
209 get { return _acceleration; }
210 }
211
212 public void SetAcceleration(Vector3 accel)
213 {
214 _acceleration = accel;
215 }
216
217 public override void AddForce(Vector3 force, bool pushforce)
218 {
219 }
220
221 public override void AddAngularForce(Vector3 force, bool pushforce)
222 {
223 }
224
225 public override void SetMomentum(Vector3 momentum)
226 {
227 }
228
229 public override Vector3 Size
230 {
231 get { return Vector3.Zero; }
232 set { }
233 }
234
235 public override void link(PhysicsActor obj)
236 {
237 }
238
239 public override void delink()
240 {
241 }
242
243 public override void LockAngularMotion(Vector3 axis)
244 {
245
246 }
247
248 public override float Mass
249 {
250 get { return 0f; }
251 }
252
253 public override Vector3 Force
254 {
255 get { return Vector3.Zero; }
256 set { return; }
257 }
258
259 public override int VehicleType
260 {
261 get { return 0; }
262 set { return; }
263 }
264
265 public override void VehicleFloatParam(int param, float value)
266 {
267
268 }
269
270 public override void VehicleVectorParam(int param, Vector3 value)
271 {
272
273 }
274
275 public override void VehicleRotationParam(int param, Quaternion rotation)
276 {
277
278 }
279
280 public override void VehicleFlags(int param, bool remove) { }
281
282 public override void VehicleFlagsSet(int param) { }
283
284 public override void VehicleFlagsRemove(int param) { }
285
286 public override void SetVolumeDetect(int param)
287 {
288
289 }
290
291 public override Vector3 CenterOfMass
292 {
293 get { return Vector3.Zero; }
294 }
295
296 public override Vector3 GeometricCenter
297 {
298 get { return Vector3.Zero; }
299 }
300
301 public override void CrossingFailure()
302 {
303 }
304
305 public override Vector3 PIDTarget { set { return; } }
306 public override bool PIDActive { set { return; } }
307 public override float PIDTau { set { return; } }
308
309 public override float PIDHoverHeight { set { return; } }
310 public override bool PIDHoverActive { set { return; } }
311 public override PIDHoverType PIDHoverType { set { return; } }
312 public override float PIDHoverTau { set { return; } }
313
314 public override Quaternion APIDTarget
315 {
316 set { return; }
317 }
318
319 public override bool APIDActive
320 {
321 set { return; }
322 }
323
324 public override float APIDStrength
325 {
326 set { return; }
327 }
328
329 public override float APIDDamping
330 {
331 set { return; }
332 }
333
334
335
336 public override void SubscribeEvents(int ms)
337 {
338
339 }
340 public override void UnSubscribeEvents()
341 {
342
343 }
344 public override bool SubscribedEvents()
345 {
346 return false;
347 }
348 }
349}
diff --git a/OpenSim/Region/Physics/PhysXPlugin/PhysXScene.cs b/OpenSim/Region/Physics/PhysXPlugin/PhysXScene.cs
new file mode 100644
index 0000000..4de4b01
--- /dev/null
+++ b/OpenSim/Region/Physics/PhysXPlugin/PhysXScene.cs
@@ -0,0 +1,183 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using Nini.Config;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using PhysXWrapper;
34using Quaternion=OpenMetaverse.Quaternion;
35using System.Reflection;
36using log4net;
37using OpenMetaverse;
38
39namespace OpenSim.Region.Physics.PhysXPlugin
40{
41 public class PhysXScene : PhysicsScene
42 {
43 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
44 private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
45 private List<PhysXPrim> _prims = new List<PhysXPrim>();
46 private float[] _heightMap = null;
47 private NxPhysicsSDK mySdk;
48 private NxScene scene;
49
50 // protected internal string sceneIdentifier;
51 public PhysXScene(string _sceneIdentifier)
52 {
53 //sceneIdentifier = _sceneIdentifier;
54
55 mySdk = NxPhysicsSDK.CreateSDK();
56 m_log.Info("Sdk created - now creating scene");
57 scene = mySdk.CreateScene();
58 }
59
60 public override void Initialise(IMesher meshmerizer, IConfigSource config)
61 {
62 // Does nothing right now
63 }
64 public override void Dispose()
65 {
66
67 }
68
69 public override void SetWaterLevel(float baseheight)
70 {
71
72 }
73
74 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
75 {
76 Vec3 pos = new Vec3();
77 pos.X = position.X;
78 pos.Y = position.Y;
79 pos.Z = position.Z;
80 PhysXCharacter act = new PhysXCharacter(scene.AddCharacter(pos));
81 act.Flying = isFlying;
82 act.Position = position;
83 _characters.Add(act);
84 return act;
85 }
86
87 public override void RemovePrim(PhysicsActor prim)
88 {
89 }
90
91 public override void RemoveAvatar(PhysicsActor actor)
92 {
93 }
94
95 private PhysicsActor AddPrim(Vector3 position, Vector3 size, Quaternion rotation)
96 {
97 Vec3 pos = new Vec3();
98 pos.X = position.X;
99 pos.Y = position.Y;
100 pos.Z = position.Z;
101 Vec3 siz = new Vec3();
102 siz.X = size.X;
103 siz.Y = size.Y;
104 siz.Z = size.Z;
105 PhysXPrim act = new PhysXPrim(scene.AddNewBox(pos, siz));
106 _prims.Add(act);
107 return act;
108 }
109
110 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
111 Vector3 size, Quaternion rotation) //To be removed
112 {
113 return AddPrimShape(primName, pbs, position, size, rotation, false);
114 }
115
116 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
117 Vector3 size, Quaternion rotation, bool isPhysical)
118 {
119 return AddPrim(position, size, rotation);
120 }
121
122 public override void AddPhysicsActorTaint(PhysicsActor prim)
123 {
124 }
125
126 public override float Simulate(float timeStep)
127 {
128 float fps = 0f;
129 try
130 {
131 foreach (PhysXCharacter actor in _characters)
132 {
133 actor.Move(timeStep);
134 }
135 scene.Simulate(timeStep);
136 scene.FetchResults();
137 scene.UpdateControllers();
138
139 foreach (PhysXCharacter actor in _characters)
140 {
141 actor.UpdatePosition();
142 }
143 }
144 catch (Exception e)
145 {
146 m_log.Error(e.Message);
147 }
148 return fps;
149 }
150
151 public override void GetResults()
152 {
153 }
154
155 public override bool IsThreaded
156 {
157 // for now we won't be multithreaded
158 get { return (false); }
159 }
160
161 public override void SetTerrain(float[] heightMap)
162 {
163 if (_heightMap != null)
164 {
165 m_log.Debug("PhysX - deleting old terrain");
166 scene.DeleteTerrain();
167 }
168 _heightMap = heightMap;
169 scene.AddTerrain(heightMap);
170 }
171
172 public override void DeleteTerrain()
173 {
174 scene.DeleteTerrain();
175 }
176
177 public override Dictionary<uint, float> GetTopColliders()
178 {
179 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
180 return returncolliders;
181 }
182 }
183}
generated by cgit v1.1 at 2024-11-15 06:16:05 +0000