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-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSCharacter.cs262
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSPlugin.cs715
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSPrim.cs262
-rw-r--r--OpenSim/Region/Physics/POSPlugin/POSScene.cs298
4 files changed, 822 insertions, 715 deletions
diff --git a/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
new file mode 100644
index 0000000..d146b60
--- /dev/null
+++ b/OpenSim/Region/Physics/POSPlugin/POSCharacter.cs
@@ -0,0 +1,262 @@
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 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 Axiom.Math;
31using Nini.Config;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34
35namespace OpenSim.Region.Physics.POSPlugin
36{
37 public class POSCharacter : PhysicsActor
38 {
39 private PhysicsVector _position;
40 public PhysicsVector _velocity;
41 public PhysicsVector _target_velocity = PhysicsVector.Zero;
42 private PhysicsVector _acceleration;
43 private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
44 private bool flying;
45 private bool iscolliding;
46
47 public POSCharacter()
48 {
49 _velocity = new PhysicsVector();
50 _position = new PhysicsVector();
51 _acceleration = new PhysicsVector();
52 }
53
54 public override int PhysicsActorType
55 {
56 get { return (int) ActorTypes.Agent; }
57 set { return; }
58 }
59
60 public override PhysicsVector RotationalVelocity
61 {
62 get { return m_rotationalVelocity; }
63 set { m_rotationalVelocity = value; }
64 }
65
66 public override bool SetAlwaysRun
67 {
68 get { return false; }
69 set { return; }
70 }
71
72 public override uint LocalID
73 {
74 set { return; }
75 }
76
77 public override bool Grabbed
78 {
79 set { return; }
80 }
81
82 public override bool Selected
83 {
84 set { return; }
85 }
86
87 public override float Buoyancy
88 {
89 get { return 0f; }
90 set { return; }
91 }
92
93 public override bool FloatOnWater
94 {
95 set { return; }
96 }
97
98 public override bool IsPhysical
99 {
100 get { return false; }
101 set { return; }
102 }
103
104 public override bool ThrottleUpdates
105 {
106 get { return false; }
107 set { return; }
108 }
109
110 public override bool Flying
111 {
112 get { return flying; }
113 set { flying = value; }
114 }
115
116 public override bool IsColliding
117 {
118 get { return iscolliding; }
119 set { iscolliding = value; }
120 }
121
122 public override bool CollidingGround
123 {
124 get { return false; }
125 set { return; }
126 }
127
128 public override bool CollidingObj
129 {
130 get { return false; }
131 set { return; }
132 }
133
134 public override bool Stopped
135 {
136 get { return false; }
137 }
138
139 public override PhysicsVector Position
140 {
141 get { return _position; }
142 set { _position = value; }
143 }
144
145 public override PhysicsVector Size
146 {
147 get { return new PhysicsVector(0.5f, 0.5f, 1.0f); }
148 set { }
149 }
150
151 public override float Mass
152 {
153 get { return 0f; }
154 }
155
156 public override PhysicsVector Force
157 {
158 get { return PhysicsVector.Zero; }
159 }
160
161 public override PhysicsVector CenterOfMass
162 {
163 get { return PhysicsVector.Zero; }
164 }
165
166 public override PhysicsVector GeometricCenter
167 {
168 get { return PhysicsVector.Zero; }
169 }
170
171 public override PrimitiveBaseShape Shape
172 {
173 set { return; }
174 }
175
176 public override PhysicsVector Velocity
177 {
178 get { return _velocity; }
179 set { _target_velocity = value; }
180 }
181
182 public override float CollisionScore
183 {
184 get { return 0f; }
185 set { }
186 }
187
188 public override Quaternion Orientation
189 {
190 get { return Quaternion.Identity; }
191 set { }
192 }
193
194 public override PhysicsVector Acceleration
195 {
196 get { return _acceleration; }
197 }
198
199 public override bool Kinematic
200 {
201 get { return true; }
202 set { }
203 }
204
205 public override void link(PhysicsActor obj)
206 {
207 }
208
209 public override void delink()
210 {
211 }
212
213 public override void LockAngularMotion(PhysicsVector axis)
214 {
215 }
216
217 public void SetAcceleration(PhysicsVector accel)
218 {
219 _acceleration = accel;
220 }
221
222 public override void AddForce(PhysicsVector force, bool pushforce)
223 {
224 }
225
226 public override void SetMomentum(PhysicsVector momentum)
227 {
228 }
229
230 public override void CrossingFailure()
231 {
232 }
233
234 public override PhysicsVector PIDTarget
235 {
236 set { return; }
237 }
238
239 public override bool PIDActive
240 {
241 set { return; }
242 }
243
244 public override float PIDTau
245 {
246 set { return; }
247 }
248
249 public override void SubscribeEvents(int ms)
250 {
251 }
252
253 public override void UnSubscribeEvents()
254 {
255 }
256
257 public override bool SubscribedEvents()
258 {
259 return false;
260 }
261 }
262}
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs b/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
index 8d1fb0e..65f10f9 100644
--- a/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
+++ b/OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
@@ -62,719 +62,4 @@ namespace OpenSim.Region.Physics.POSPlugin
62 { 62 {
63 } 63 }
64 } 64 }
65
66 public class POSScene : PhysicsScene
67 {
68 private List<POSCharacter> _characters = new List<POSCharacter>();
69 private List<POSPrim> _prims = new List<POSPrim>();
70 private float[] _heightMap;
71 private const float gravity = -9.8f;
72
73 public POSScene()
74 {
75 }
76
77 public override void Initialise(IMesher meshmerizer, IConfigSource config)
78 {
79 }
80
81 public override void Dispose()
82 {
83 }
84
85 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size)
86 {
87 POSCharacter act = new POSCharacter();
88 act.Position = position;
89 _characters.Add(act);
90 return act;
91 }
92
93 public override void SetWaterLevel(float baseheight)
94 {
95 }
96
97 public override void RemovePrim(PhysicsActor prim)
98 {
99 POSPrim p = (POSPrim) prim;
100 if (_prims.Contains(p))
101 {
102 _prims.Remove(p);
103 }
104 }
105
106 public override void RemoveAvatar(PhysicsActor character)
107 {
108 POSCharacter act = (POSCharacter) character;
109 if (_characters.Contains(act))
110 {
111 _characters.Remove(act);
112 }
113 }
114
115/*
116 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
117 {
118 return null;
119 }
120*/
121
122 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
123 PhysicsVector size, Quaternion rotation)
124 {
125 return AddPrimShape(primName, pbs, position, size, rotation, false);
126 }
127
128 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
129 PhysicsVector size, Quaternion rotation, bool isPhysical)
130 {
131 POSPrim prim = new POSPrim();
132 prim.Position = position;
133 prim.Orientation = rotation;
134 prim.Size = size;
135 _prims.Add(prim);
136 return prim;
137 }
138
139 private bool check_collision(POSCharacter c, POSPrim p)
140 {
141 /*
142 Console.WriteLine("checking whether " + c + " collides with " + p +
143 " absX: " + Math.Abs(p.Position.X - c.Position.X) +
144 " sizeX: " + p.Size.X * 0.5 + 0.5);
145 */
146
147 Vector3 rotatedPos = p.Orientation.Inverse() *
148 new Vector3(c.Position.X - p.Position.X, c.Position.Y - p.Position.Y,
149 c.Position.Z - p.Position.Z);
150 Vector3 avatarSize = p.Orientation.Inverse()*new Vector3(c.Size.X, c.Size.Y, c.Size.Z);
151
152 if (Math.Abs(rotatedPos.x) >= (p.Size.X*0.5 + Math.Abs(avatarSize.x)) ||
153 Math.Abs(rotatedPos.y) >= (p.Size.Y*0.5 + Math.Abs(avatarSize.y)) ||
154 Math.Abs(rotatedPos.z) >= (p.Size.Z*0.5 + Math.Abs(avatarSize.z)))
155 {
156 return false;
157 }
158 return true;
159 }
160
161 private bool check_all_prims(POSCharacter c)
162 {
163 for (int i = 0; i < _prims.Count; ++i)
164 {
165 if (check_collision(c, _prims[i]))
166 {
167 return true;
168 }
169 }
170
171 return false;
172 }
173
174 public override void AddPhysicsActorTaint(PhysicsActor prim)
175 {
176 }
177
178 public override float Simulate(float timeStep)
179 {
180 float fps = 0;
181 for (int i = 0; i < _characters.Count; ++i)
182 {
183 fps++;
184 POSCharacter character = _characters[i];
185
186 float oldposX = character.Position.X;
187 float oldposY = character.Position.Y;
188 float oldposZ = character.Position.Z;
189
190 if (!character.Flying)
191 {
192 character._target_velocity.Z += gravity*timeStep;
193 }
194
195 bool forcedZ = false;
196 character.Position.X += character._target_velocity.X*timeStep;
197 character.Position.Y += character._target_velocity.Y*timeStep;
198
199 if (character.Position.Y < 0)
200 {
201 character.Position.Y = 0.1F;
202 }
203 else if (character.Position.Y >= Constants.RegionSize)
204 {
205 character.Position.Y = Constants.RegionSize - 0.1f;
206 }
207
208 if (character.Position.X < 0)
209 {
210 character.Position.X = 0.1F;
211 }
212 else if (character.Position.X >= Constants.RegionSize)
213 {
214 character.Position.X = Constants.RegionSize - 0.1f;
215 }
216
217 float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (int)character.Position.X];
218 if (character.Position.Z + (character._target_velocity.Z*timeStep) < terrainheight + 2)
219 {
220 character.Position.Z = terrainheight + 1.0f;
221 forcedZ = true;
222 }
223 else
224 {
225 character.Position.Z += character._target_velocity.Z*timeStep;
226 }
227
228 /// this is it -- the magic you've all been waiting for! Ladies and gentlemen --
229 /// Completely Bogus Collision Detection!!!
230 /// better known as the CBCD algorithm
231
232 if (check_all_prims(character))
233 {
234 character.Position.Z = oldposZ; // first try Z axis
235 if (check_all_prims(character))
236 {
237 character.Position.Z = oldposZ + 0.4f; // try harder
238 if (check_all_prims(character))
239 {
240 character.Position.X = oldposX;
241 character.Position.Y = oldposY;
242 character.Position.Z = oldposZ;
243 character.Position.X += character._target_velocity.X * timeStep;
244 if (check_all_prims(character))
245 {
246 character.Position.X = oldposX;
247 }
248 character.Position.Y += character._target_velocity.Y * timeStep;
249 if (check_all_prims(character))
250 {
251 character.Position.Y = oldposY;
252 }
253 }
254 else
255 {
256 forcedZ = true;
257 }
258 }
259 else
260 {
261 forcedZ = true;
262 }
263 }
264
265 if (character.Position.Y < 0)
266 {
267 character.Position.Y = 0.1F;
268 }
269 else if (character.Position.Y >= Constants.RegionSize)
270 {
271 character.Position.Y = Constants.RegionSize - 0.1f;
272 }
273
274 if (character.Position.X < 0)
275 {
276 character.Position.X = 0.1F;
277 }
278 else if (character.Position.X >= Constants.RegionSize)
279 {
280 character.Position.X = Constants.RegionSize - 0.1f;
281 }
282
283 character._velocity.X = (character.Position.X - oldposX)/timeStep;
284 character._velocity.Y = (character.Position.Y - oldposY)/timeStep;
285
286 if (forcedZ)
287 {
288 character._velocity.Z = 0;
289 character._target_velocity.Z = 0;
290 ((PhysicsActor)character).IsColliding = true;
291 character.RequestPhysicsterseUpdate();
292 }
293 else
294 {
295 ((PhysicsActor)character).IsColliding = false;
296 character._velocity.Z = (character.Position.Z - oldposZ)/timeStep;
297 }
298 }
299 return fps;
300 }
301
302 public override void GetResults()
303 {
304 }
305
306 public override bool IsThreaded
307 {
308 // for now we won't be multithreaded
309 get { return (false); }
310 }
311
312 public override void SetTerrain(float[] heightMap)
313 {
314 _heightMap = heightMap;
315 }
316
317 public override void DeleteTerrain()
318 {
319 }
320
321 public override Dictionary<uint, float> GetTopColliders()
322 {
323 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
324 return returncolliders;
325 }
326 }
327
328 public class POSCharacter : PhysicsActor
329 {
330 private PhysicsVector _position;
331 public PhysicsVector _velocity;
332 public PhysicsVector _target_velocity = PhysicsVector.Zero;
333 private PhysicsVector _acceleration;
334 private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
335 private bool flying;
336 private bool iscolliding;
337
338 public POSCharacter()
339 {
340 _velocity = new PhysicsVector();
341 _position = new PhysicsVector();
342 _acceleration = new PhysicsVector();
343 }
344
345 public override int PhysicsActorType
346 {
347 get { return (int) ActorTypes.Agent; }
348 set { return; }
349 }
350
351 public override PhysicsVector RotationalVelocity
352 {
353 get { return m_rotationalVelocity; }
354 set { m_rotationalVelocity = value; }
355 }
356
357 public override bool SetAlwaysRun
358 {
359 get { return false; }
360 set { return; }
361 }
362
363 public override uint LocalID
364 {
365 set { return; }
366 }
367
368 public override bool Grabbed
369 {
370 set { return; }
371 }
372
373 public override bool Selected
374 {
375 set { return; }
376 }
377
378 public override float Buoyancy
379 {
380 get { return 0f; }
381 set { return; }
382 }
383
384 public override bool FloatOnWater
385 {
386 set { return; }
387 }
388
389 public override bool IsPhysical
390 {
391 get { return false; }
392 set { return; }
393 }
394
395 public override bool ThrottleUpdates
396 {
397 get { return false; }
398 set { return; }
399 }
400
401 public override bool Flying
402 {
403 get { return flying; }
404 set { flying = value; }
405 }
406
407 public override bool IsColliding
408 {
409 get { return iscolliding; }
410 set { iscolliding = value; }
411 }
412
413 public override bool CollidingGround
414 {
415 get { return false; }
416 set { return; }
417 }
418
419 public override bool CollidingObj
420 {
421 get { return false; }
422 set { return; }
423 }
424
425 public override bool Stopped
426 {
427 get { return false; }
428 }
429
430 public override PhysicsVector Position
431 {
432 get { return _position; }
433 set { _position = value; }
434 }
435
436 public override PhysicsVector Size
437 {
438 get { return new PhysicsVector(0.5f, 0.5f, 1.0f); }
439 set { }
440 }
441
442 public override float Mass
443 {
444 get { return 0f; }
445 }
446
447 public override PhysicsVector Force
448 {
449 get { return PhysicsVector.Zero; }
450 }
451
452 public override PhysicsVector CenterOfMass
453 {
454 get { return PhysicsVector.Zero; }
455 }
456
457 public override PhysicsVector GeometricCenter
458 {
459 get { return PhysicsVector.Zero; }
460 }
461
462 public override PrimitiveBaseShape Shape
463 {
464 set { return; }
465 }
466
467 public override PhysicsVector Velocity
468 {
469 get { return _velocity; }
470 set { _target_velocity = value; }
471 }
472
473 public override float CollisionScore
474 {
475 get { return 0f; }
476 set { }
477 }
478
479 public override Quaternion Orientation
480 {
481 get { return Quaternion.Identity; }
482 set { }
483 }
484
485 public override PhysicsVector Acceleration
486 {
487 get { return _acceleration; }
488 }
489
490 public override bool Kinematic
491 {
492 get { return true; }
493 set { }
494 }
495
496 public override void link(PhysicsActor obj)
497 {
498 }
499
500 public override void delink()
501 {
502 }
503
504 public override void LockAngularMotion(PhysicsVector axis)
505 {
506 }
507
508 public void SetAcceleration(PhysicsVector accel)
509 {
510 _acceleration = accel;
511 }
512
513 public override void AddForce(PhysicsVector force, bool pushforce)
514 {
515 }
516
517 public override void SetMomentum(PhysicsVector momentum)
518 {
519 }
520
521 public override void CrossingFailure()
522 {
523 }
524
525 public override PhysicsVector PIDTarget
526 {
527 set { return; }
528 }
529
530 public override bool PIDActive
531 {
532 set { return; }
533 }
534
535 public override float PIDTau
536 {
537 set { return; }
538 }
539
540 public override void SubscribeEvents(int ms)
541 {
542 }
543
544 public override void UnSubscribeEvents()
545 {
546 }
547
548 public override bool SubscribedEvents()
549 {
550 return false;
551 }
552 }
553
554 public class POSPrim : PhysicsActor
555 {
556 private PhysicsVector _position;
557 private PhysicsVector _velocity;
558 private PhysicsVector _acceleration;
559 private PhysicsVector _size;
560 private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
561 private Quaternion _orientation;
562 private bool iscolliding;
563
564 public POSPrim()
565 {
566 _velocity = new PhysicsVector();
567 _position = new PhysicsVector();
568 _acceleration = new PhysicsVector();
569 }
570
571 public override int PhysicsActorType
572 {
573 get { return (int) ActorTypes.Prim; }
574 set { return; }
575 }
576
577 public override PhysicsVector RotationalVelocity
578 {
579 get { return m_rotationalVelocity; }
580 set { m_rotationalVelocity = value; }
581 }
582
583 public override bool IsPhysical
584 {
585 get { return false; }
586 set { return; }
587 }
588
589 public override bool ThrottleUpdates
590 {
591 get { return false; }
592 set { return; }
593 }
594
595 public override bool IsColliding
596 {
597 get { return iscolliding; }
598 set { iscolliding = value; }
599 }
600
601 public override bool CollidingGround
602 {
603 get { return false; }
604 set { return; }
605 }
606
607 public override bool CollidingObj
608 {
609 get { return false; }
610 set { return; }
611 }
612
613 public override bool Stopped
614 {
615 get { return false; }
616 }
617
618 public override PhysicsVector Position
619 {
620 get { return _position; }
621 set { _position = value; }
622 }
623
624 public override PhysicsVector Size
625 {
626 get { return _size; }
627 set { _size = value; }
628 }
629
630 public override float Mass
631 {
632 get { return 0f; }
633 }
634
635 public override PhysicsVector Force
636 {
637 get { return PhysicsVector.Zero; }
638 }
639
640 public override PhysicsVector CenterOfMass
641 {
642 get { return PhysicsVector.Zero; }
643 }
644
645 public override PhysicsVector GeometricCenter
646 {
647 get { return PhysicsVector.Zero; }
648 }
649
650 public override PrimitiveBaseShape Shape
651 {
652 set { return; }
653 }
654
655 public override float Buoyancy
656 {
657 get { return 0f; }
658 set { return; }
659 }
660
661 public override bool FloatOnWater
662 {
663 set { return; }
664 }
665
666 public override PhysicsVector Velocity
667 {
668 get { return _velocity; }
669 set { _velocity = value; }
670 }
671
672 public override float CollisionScore
673 {
674 get { return 0f; }
675 set { }
676 }
677
678 public override Quaternion Orientation
679 {
680 get { return _orientation; }
681 set { _orientation = value; }
682 }
683
684 public override PhysicsVector Acceleration
685 {
686 get { return _acceleration; }
687 }
688
689 public override bool Kinematic
690 {
691 get { return true; }
692 set { }
693 }
694
695 public void SetAcceleration(PhysicsVector accel)
696 {
697 _acceleration = accel;
698 }
699
700 public override void AddForce(PhysicsVector force, bool pushforce)
701 {
702 }
703
704 public override void SetMomentum(PhysicsVector momentum)
705 {
706 }
707
708 public override bool Flying
709 {
710 get { return false; }
711 set { }
712 }
713
714 public override bool SetAlwaysRun
715 {
716 get { return false; }
717 set { return; }
718 }
719
720 public override uint LocalID
721 {
722 set { return; }
723 }
724
725 public override bool Grabbed
726 {
727 set { return; }
728 }
729
730 public override void link(PhysicsActor obj)
731 {
732 }
733
734 public override void delink()
735 {
736 }
737
738 public override void LockAngularMotion(PhysicsVector axis)
739 {
740
741 }
742
743 public override bool Selected
744 {
745 set { return; }
746 }
747
748 public override void CrossingFailure()
749 {
750 }
751
752 public override PhysicsVector PIDTarget
753 {
754 set { return; }
755 }
756
757 public override bool PIDActive
758 {
759 set { return; }
760 }
761
762 public override float PIDTau
763 {
764 set { return; }
765 }
766
767 public override void SubscribeEvents(int ms)
768 {
769 }
770
771 public override void UnSubscribeEvents()
772 {
773 }
774
775 public override bool SubscribedEvents()
776 {
777 return false;
778 }
779 }
780} 65}
diff --git a/OpenSim/Region/Physics/POSPlugin/POSPrim.cs b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
new file mode 100644
index 0000000..c767917
--- /dev/null
+++ b/OpenSim/Region/Physics/POSPlugin/POSPrim.cs
@@ -0,0 +1,262 @@
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 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 Axiom.Math;
31using Nini.Config;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34
35namespace OpenSim.Region.Physics.POSPlugin
36{
37 public class POSPrim : PhysicsActor
38 {
39 private PhysicsVector _position;
40 private PhysicsVector _velocity;
41 private PhysicsVector _acceleration;
42 private PhysicsVector _size;
43 private PhysicsVector m_rotationalVelocity = PhysicsVector.Zero;
44 private Quaternion _orientation;
45 private bool iscolliding;
46
47 public POSPrim()
48 {
49 _velocity = new PhysicsVector();
50 _position = new PhysicsVector();
51 _acceleration = new PhysicsVector();
52 }
53
54 public override int PhysicsActorType
55 {
56 get { return (int) ActorTypes.Prim; }
57 set { return; }
58 }
59
60 public override PhysicsVector RotationalVelocity
61 {
62 get { return m_rotationalVelocity; }
63 set { m_rotationalVelocity = value; }
64 }
65
66 public override bool IsPhysical
67 {
68 get { return false; }
69 set { return; }
70 }
71
72 public override bool ThrottleUpdates
73 {
74 get { return false; }
75 set { return; }
76 }
77
78 public override bool IsColliding
79 {
80 get { return iscolliding; }
81 set { iscolliding = value; }
82 }
83
84 public override bool CollidingGround
85 {
86 get { return false; }
87 set { return; }
88 }
89
90 public override bool CollidingObj
91 {
92 get { return false; }
93 set { return; }
94 }
95
96 public override bool Stopped
97 {
98 get { return false; }
99 }
100
101 public override PhysicsVector Position
102 {
103 get { return _position; }
104 set { _position = value; }
105 }
106
107 public override PhysicsVector Size
108 {
109 get { return _size; }
110 set { _size = value; }
111 }
112
113 public override float Mass
114 {
115 get { return 0f; }
116 }
117
118 public override PhysicsVector Force
119 {
120 get { return PhysicsVector.Zero; }
121 }
122
123 public override PhysicsVector CenterOfMass
124 {
125 get { return PhysicsVector.Zero; }
126 }
127
128 public override PhysicsVector GeometricCenter
129 {
130 get { return PhysicsVector.Zero; }
131 }
132
133 public override PrimitiveBaseShape Shape
134 {
135 set { return; }
136 }
137
138 public override float Buoyancy
139 {
140 get { return 0f; }
141 set { return; }
142 }
143
144 public override bool FloatOnWater
145 {
146 set { return; }
147 }
148
149 public override PhysicsVector Velocity
150 {
151 get { return _velocity; }
152 set { _velocity = value; }
153 }
154
155 public override float CollisionScore
156 {
157 get { return 0f; }
158 set { }
159 }
160
161 public override Quaternion Orientation
162 {
163 get { return _orientation; }
164 set { _orientation = value; }
165 }
166
167 public override PhysicsVector Acceleration
168 {
169 get { return _acceleration; }
170 }
171
172 public override bool Kinematic
173 {
174 get { return true; }
175 set { }
176 }
177
178 public void SetAcceleration(PhysicsVector accel)
179 {
180 _acceleration = accel;
181 }
182
183 public override void AddForce(PhysicsVector force, bool pushforce)
184 {
185 }
186
187 public override void SetMomentum(PhysicsVector momentum)
188 {
189 }
190
191 public override bool Flying
192 {
193 get { return false; }
194 set { }
195 }
196
197 public override bool SetAlwaysRun
198 {
199 get { return false; }
200 set { return; }
201 }
202
203 public override uint LocalID
204 {
205 set { return; }
206 }
207
208 public override bool Grabbed
209 {
210 set { return; }
211 }
212
213 public override void link(PhysicsActor obj)
214 {
215 }
216
217 public override void delink()
218 {
219 }
220
221 public override void LockAngularMotion(PhysicsVector axis)
222 {
223 }
224
225 public override bool Selected
226 {
227 set { return; }
228 }
229
230 public override void CrossingFailure()
231 {
232 }
233
234 public override PhysicsVector PIDTarget
235 {
236 set { return; }
237 }
238
239 public override bool PIDActive
240 {
241 set { return; }
242 }
243
244 public override float PIDTau
245 {
246 set { return; }
247 }
248
249 public override void SubscribeEvents(int ms)
250 {
251 }
252
253 public override void UnSubscribeEvents()
254 {
255 }
256
257 public override bool SubscribedEvents()
258 {
259 return false;
260 }
261 }
262}
diff --git a/OpenSim/Region/Physics/POSPlugin/POSScene.cs b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
new file mode 100644
index 0000000..e9ecaa5
--- /dev/null
+++ b/OpenSim/Region/Physics/POSPlugin/POSScene.cs
@@ -0,0 +1,298 @@
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 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 Axiom.Math;
31using Nini.Config;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34
35namespace OpenSim.Region.Physics.POSPlugin
36{
37 public class POSScene : PhysicsScene
38 {
39 private List<POSCharacter> _characters = new List<POSCharacter>();
40 private List<POSPrim> _prims = new List<POSPrim>();
41 private float[] _heightMap;
42 private const float gravity = -9.8f;
43
44 public POSScene()
45 {
46 }
47
48 public override void Initialise(IMesher meshmerizer, IConfigSource config)
49 {
50 }
51
52 public override void Dispose()
53 {
54 }
55
56 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size)
57 {
58 POSCharacter act = new POSCharacter();
59 act.Position = position;
60 _characters.Add(act);
61 return act;
62 }
63
64 public override void SetWaterLevel(float baseheight)
65 {
66 }
67
68 public override void RemovePrim(PhysicsActor prim)
69 {
70 POSPrim p = (POSPrim) prim;
71 if (_prims.Contains(p))
72 {
73 _prims.Remove(p);
74 }
75 }
76
77 public override void RemoveAvatar(PhysicsActor character)
78 {
79 POSCharacter act = (POSCharacter) character;
80 if (_characters.Contains(act))
81 {
82 _characters.Remove(act);
83 }
84 }
85
86/*
87 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Quaternion rotation)
88 {
89 return null;
90 }
91*/
92
93 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
94 PhysicsVector size, Quaternion rotation)
95 {
96 return AddPrimShape(primName, pbs, position, size, rotation, false);
97 }
98
99 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
100 PhysicsVector size, Quaternion rotation, bool isPhysical)
101 {
102 POSPrim prim = new POSPrim();
103 prim.Position = position;
104 prim.Orientation = rotation;
105 prim.Size = size;
106 _prims.Add(prim);
107 return prim;
108 }
109
110 private bool check_collision(POSCharacter c, POSPrim p)
111 {
112 /*
113 Console.WriteLine("checking whether " + c + " collides with " + p +
114 " absX: " + Math.Abs(p.Position.X - c.Position.X) +
115 " sizeX: " + p.Size.X * 0.5 + 0.5);
116 */
117
118 Vector3 rotatedPos = p.Orientation.Inverse() *
119 new Vector3(c.Position.X - p.Position.X, c.Position.Y - p.Position.Y,
120 c.Position.Z - p.Position.Z);
121 Vector3 avatarSize = p.Orientation.Inverse()*new Vector3(c.Size.X, c.Size.Y, c.Size.Z);
122
123 if (Math.Abs(rotatedPos.x) >= (p.Size.X*0.5 + Math.Abs(avatarSize.x)) ||
124 Math.Abs(rotatedPos.y) >= (p.Size.Y*0.5 + Math.Abs(avatarSize.y)) ||
125 Math.Abs(rotatedPos.z) >= (p.Size.Z*0.5 + Math.Abs(avatarSize.z)))
126 {
127 return false;
128 }
129 return true;
130 }
131
132 private bool check_all_prims(POSCharacter c)
133 {
134 for (int i = 0; i < _prims.Count; ++i)
135 {
136 if (check_collision(c, _prims[i]))
137 {
138 return true;
139 }
140 }
141
142 return false;
143 }
144
145 public override void AddPhysicsActorTaint(PhysicsActor prim)
146 {
147 }
148
149 public override float Simulate(float timeStep)
150 {
151 float fps = 0;
152 for (int i = 0; i < _characters.Count; ++i)
153 {
154 fps++;
155 POSCharacter character = _characters[i];
156
157 float oldposX = character.Position.X;
158 float oldposY = character.Position.Y;
159 float oldposZ = character.Position.Z;
160
161 if (!character.Flying)
162 {
163 character._target_velocity.Z += gravity*timeStep;
164 }
165
166 bool forcedZ = false;
167 character.Position.X += character._target_velocity.X*timeStep;
168 character.Position.Y += character._target_velocity.Y*timeStep;
169
170 if (character.Position.Y < 0)
171 {
172 character.Position.Y = 0.1F;
173 }
174 else if (character.Position.Y >= Constants.RegionSize)
175 {
176 character.Position.Y = Constants.RegionSize - 0.1f;
177 }
178
179 if (character.Position.X < 0)
180 {
181 character.Position.X = 0.1F;
182 }
183 else if (character.Position.X >= Constants.RegionSize)
184 {
185 character.Position.X = Constants.RegionSize - 0.1f;
186 }
187
188 float terrainheight = _heightMap[(int)character.Position.Y * Constants.RegionSize + (int)character.Position.X];
189 if (character.Position.Z + (character._target_velocity.Z*timeStep) < terrainheight + 2)
190 {
191 character.Position.Z = terrainheight + 1.0f;
192 forcedZ = true;
193 }
194 else
195 {
196 character.Position.Z += character._target_velocity.Z*timeStep;
197 }
198
199 /// this is it -- the magic you've all been waiting for! Ladies and gentlemen --
200 /// Completely Bogus Collision Detection!!!
201 /// better known as the CBCD algorithm
202
203 if (check_all_prims(character))
204 {
205 character.Position.Z = oldposZ; // first try Z axis
206 if (check_all_prims(character))
207 {
208 character.Position.Z = oldposZ + 0.4f; // try harder
209 if (check_all_prims(character))
210 {
211 character.Position.X = oldposX;
212 character.Position.Y = oldposY;
213 character.Position.Z = oldposZ;
214 character.Position.X += character._target_velocity.X * timeStep;
215 if (check_all_prims(character))
216 {
217 character.Position.X = oldposX;
218 }
219 character.Position.Y += character._target_velocity.Y * timeStep;
220 if (check_all_prims(character))
221 {
222 character.Position.Y = oldposY;
223 }
224 }
225 else
226 {
227 forcedZ = true;
228 }
229 }
230 else
231 {
232 forcedZ = true;
233 }
234 }
235
236 if (character.Position.Y < 0)
237 {
238 character.Position.Y = 0.1F;
239 }
240 else if (character.Position.Y >= Constants.RegionSize)
241 {
242 character.Position.Y = Constants.RegionSize - 0.1f;
243 }
244
245 if (character.Position.X < 0)
246 {
247 character.Position.X = 0.1F;
248 }
249 else if (character.Position.X >= Constants.RegionSize)
250 {
251 character.Position.X = Constants.RegionSize - 0.1f;
252 }
253
254 character._velocity.X = (character.Position.X - oldposX)/timeStep;
255 character._velocity.Y = (character.Position.Y - oldposY)/timeStep;
256
257 if (forcedZ)
258 {
259 character._velocity.Z = 0;
260 character._target_velocity.Z = 0;
261 ((PhysicsActor)character).IsColliding = true;
262 character.RequestPhysicsterseUpdate();
263 }
264 else
265 {
266 ((PhysicsActor)character).IsColliding = false;
267 character._velocity.Z = (character.Position.Z - oldposZ)/timeStep;
268 }
269 }
270 return fps;
271 }
272
273 public override void GetResults()
274 {
275 }
276
277 public override bool IsThreaded
278 {
279 // for now we won't be multithreaded
280 get { return (false); }
281 }
282
283 public override void SetTerrain(float[] heightMap)
284 {
285 _heightMap = heightMap;
286 }
287
288 public override void DeleteTerrain()
289 {
290 }
291
292 public override Dictionary<uint, float> GetTopColliders()
293 {
294 Dictionary<uint, float> returncolliders = new Dictionary<uint, float>();
295 return returncolliders;
296 }
297 }
298}
generated by cgit v1.1 at 2024-12-28 10:33:05 +0000