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-rw-r--r--src/physics/PhysicsManager.cs7
-rw-r--r--src/physics/RealPhysX/RealPhysXplugin/AssemblyInfo.cs31
-rw-r--r--src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs361
-rw-r--r--src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.csproj45
-rw-r--r--src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.sln7
-rw-r--r--src/physics/plugins/PhysXplugin.cs38
6 files changed, 484 insertions, 5 deletions
diff --git a/src/physics/PhysicsManager.cs b/src/physics/PhysicsManager.cs
index 0986501..e5d5bd6 100644
--- a/src/physics/PhysicsManager.cs
+++ b/src/physics/PhysicsManager.cs
@@ -110,6 +110,8 @@ namespace PhysicsSystem
110 { 110 {
111 public abstract PhysicsActor AddAvatar(PhysicsVector position); 111 public abstract PhysicsActor AddAvatar(PhysicsVector position);
112 112
113 public abstract PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size);
114
113 public abstract void Simulate(float timeStep); 115 public abstract void Simulate(float timeStep);
114 116
115 public abstract void GetResults(); 117 public abstract void GetResults();
@@ -140,6 +142,11 @@ namespace PhysicsSystem
140 { 142 {
141 get; 143 get;
142 } 144 }
145 public abstract bool Flying
146 {
147 get;
148 set;
149 }
143 150
144 public abstract void AddForce(PhysicsVector force); 151 public abstract void AddForce(PhysicsVector force);
145 152
diff --git a/src/physics/RealPhysX/RealPhysXplugin/AssemblyInfo.cs b/src/physics/RealPhysX/RealPhysXplugin/AssemblyInfo.cs
new file mode 100644
index 0000000..913aae7
--- /dev/null
+++ b/src/physics/RealPhysX/RealPhysXplugin/AssemblyInfo.cs
@@ -0,0 +1,31 @@
1using System.Reflection;
2using System.Runtime.CompilerServices;
3using System.Runtime.InteropServices;
4
5// Information about this assembly is defined by the following
6// attributes.
7//
8// change them to the information which is associated with the assembly
9// you compile.
10
11[assembly: AssemblyTitle("RealPhysXplugin")]
12[assembly: AssemblyDescription("")]
13[assembly: AssemblyConfiguration("")]
14[assembly: AssemblyCompany("")]
15[assembly: AssemblyProduct("RealPhysXplugin")]
16[assembly: AssemblyCopyright("")]
17[assembly: AssemblyTrademark("")]
18[assembly: AssemblyCulture("")]
19
20// This sets the default COM visibility of types in the assembly to invisible.
21// If you need to expose a type to COM, use [ComVisible(true)] on that type.
22[assembly: ComVisible(false)]
23
24// The assembly version has following format :
25//
26// Major.Minor.Build.Revision
27//
28// You can specify all values by your own or you can build default build and revision
29// numbers with the '*' character (the default):
30
31[assembly: AssemblyVersion("1.0.*")]
diff --git a/src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs b/src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs
new file mode 100644
index 0000000..9576a40
--- /dev/null
+++ b/src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs
@@ -0,0 +1,361 @@
1/*
2* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
3*
4* Redistribution and use in source and binary forms, with or without
5* modification, are permitted provided that the following conditions are met:
6* * Redistributions of source code must retain the above copyright
7* notice, this list of conditions and the following disclaimer.
8* * Redistributions in binary form must reproduce the above copyright
9* notice, this list of conditions and the following disclaimer in the
10* documentation and/or other materials provided with the distribution.
11* * Neither the name of the <organization> nor the
12* names of its contributors may be used to endorse or promote products
13* derived from this software without specific prior written permission.
14*
15* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY
16* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
17* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
18* DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
19* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
20* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
21* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
22* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
23* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
24* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25*
26*/
27/*
28* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
29*
30* Redistribution and use in source and binary forms, with or without
31* modification, are permitted provided that the following conditions are met:
32* * Redistributions of source code must retain the above copyright
33* notice, this list of conditions and the following disclaimer.
34* * Redistributions in binary form must reproduce the above copyright
35* notice, this list of conditions and the following disclaimer in the
36* documentation and/or other materials provided with the distribution.
37* * Neither the name of the <organization> nor the
38* names of its contributors may be used to endorse or promote products
39* derived from this software without specific prior written permission.
40*
41* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``AS IS'' AND ANY
42* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
43* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
44* DISCLAIMED. IN NO EVENT SHALL <copyright holder> BE LIABLE FOR ANY
45* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
46* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
47* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
48* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
49* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
50* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
51*
52*/
53using System;
54using System.Collections.Generic;
55using PhysicsSystem;
56using PhysXWrapper;
57
58namespace PhysXplugin
59{
60 /// <summary>
61 /// Will be the PhysX plugin but for now will be a very basic physics engine
62 /// </summary>
63 public class PhysXPlugin : IPhysicsPlugin
64 {
65 private PhysXScene _mScene;
66
67 public PhysXPlugin()
68 {
69
70 }
71
72 public bool Init()
73 {
74 return true;
75 }
76
77 public PhysicsScene GetScene()
78 {
79 if(_mScene == null)
80 {
81 _mScene = new PhysXScene();
82 }
83 return(_mScene);
84 }
85
86 public string GetName()
87 {
88 return("RealPhysX");
89 }
90
91 public void Dispose()
92 {
93
94 }
95 }
96
97 public class PhysXScene :PhysicsScene
98 {
99 private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
100 private List<PhysXPrim> _prims = new List<PhysXPrim>();
101 private float[] _heightMap;
102 private NxPhysicsSDK mySdk;
103 private NxScene scene;
104
105 public PhysXScene()
106 {
107 mySdk = NxPhysicsSDK.CreateSDK();
108 scene = mySdk.CreateScene();
109
110 }
111
112 public override PhysicsActor AddAvatar(PhysicsVector position)
113 {
114 Vec3 pos = new Vec3();
115 pos.X = position.X;
116 pos.Y = position.Y;
117 pos.Z = position.Z;
118 PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos));
119 act.Position = position;
120 _characters.Add(act);
121 return act;
122 }
123
124 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
125 {
126 Vec3 pos = new Vec3();
127 pos.X = position.X;
128 pos.Y = position.Y;
129 pos.Z = position.Z;
130 Vec3 siz = new Vec3();
131 siz.X = size.X;
132 siz.Y = size.Y;
133 siz.Z = size.Z;
134 PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz));
135 _prims.Add(act);
136 return act;
137 }
138 public override void Simulate(float timeStep)
139 {
140 foreach (PhysXCharacter actor in _characters)
141 {
142 actor.Move(timeStep);
143 }
144 scene.Simulate(timeStep);
145 scene.FetchResults();
146 scene.UpdateControllers();
147
148 foreach (PhysXCharacter actor in _characters)
149 {
150 actor.UpdatePosition();
151 }
152
153 }
154
155 public override void GetResults()
156 {
157
158 }
159
160 public override bool IsThreaded
161 {
162 get
163 {
164 return(false); // for now we won't be multithreaded
165 }
166 }
167
168 public override void SetTerrain(float[] heightMap)
169 {
170 this._heightMap = heightMap;
171 this.scene.AddTerrain(heightMap);
172 }
173 }
174
175 public class PhysXCharacter : PhysicsActor
176 {
177 private PhysicsVector _position;
178 private PhysicsVector _velocity;
179 private PhysicsVector _acceleration;
180 private NxCharacter _character;
181 private bool flying;
182
183 public PhysXCharacter(NxCharacter character)
184 {
185 _velocity = new PhysicsVector();
186 _position = new PhysicsVector();
187 _acceleration = new PhysicsVector();
188 _character = character;
189 }
190
191 public override bool Flying
192 {
193 get
194 {
195 return flying;
196 }
197 set
198 {
199 flying = value;
200 }
201 }
202
203 public override PhysicsVector Position
204 {
205 get
206 {
207 return _position;
208 }
209 set
210 {
211 _position = value;
212 }
213 }
214
215 public override PhysicsVector Velocity
216 {
217 get
218 {
219 return _velocity;
220 }
221 set
222 {
223 _velocity = value;
224 }
225 }
226
227 public override PhysicsVector Acceleration
228 {
229 get
230 {
231 return _acceleration;
232 }
233
234 }
235 public void SetAcceleration (PhysicsVector accel)
236 {
237 this._acceleration = accel;
238 }
239
240 public override void AddForce(PhysicsVector force)
241 {
242
243 }
244
245 public override void SetMomentum(PhysicsVector momentum)
246 {
247
248 }
249
250 public void Move(float timeStep)
251 {
252 Vec3 vec = new Vec3();
253 vec.X = this._velocity.X * timeStep;
254 vec.Y = this._velocity.Y * timeStep;
255 if(flying)
256 {
257 vec.Z = ( this._velocity.Z) * timeStep;
258 }
259 else
260 {
261 vec.Z = (-9.8f + this._velocity.Z) * timeStep;
262 }
263 this._character.Move(vec);
264 }
265
266 public void UpdatePosition()
267 {
268 Vec3 vec = this._character.Position;
269 this._position.X = vec.X;
270 this._position.Y = vec.Y;
271 this._position.Z = vec.Z;
272 }
273 }
274
275 public class PhysXPrim : PhysicsActor
276 {
277 private PhysicsVector _position;
278 private PhysicsVector _velocity;
279 private PhysicsVector _acceleration;
280 private NxActor _prim;
281
282 public PhysXPrim(NxActor prim)
283 {
284 _velocity = new PhysicsVector();
285 _position = new PhysicsVector();
286 _acceleration = new PhysicsVector();
287 _prim = prim;
288 }
289 public override bool Flying
290 {
291 get
292 {
293 return false; //no flying prims for you
294 }
295 set
296 {
297
298 }
299 }
300 public override PhysicsVector Position
301 {
302 get
303 {
304 PhysicsVector pos = new PhysicsVector();
305 Vec3 vec = this._prim.Position;
306 pos.X = vec.X;
307 pos.Y = vec.Y;
308 pos.Z = vec.Z;
309 return pos;
310
311 }
312 set
313 {
314 PhysicsVector vec = value;
315 Vec3 pos = new Vec3();
316 pos.X = vec.X;
317 pos.Y = vec.Y;
318 pos.Z = vec.Z;
319 this._prim.Position = pos;
320 }
321 }
322
323 public override PhysicsVector Velocity
324 {
325 get
326 {
327 return _velocity;
328 }
329 set
330 {
331 _velocity = value;
332 }
333 }
334
335 public override PhysicsVector Acceleration
336 {
337 get
338 {
339 return _acceleration;
340 }
341
342 }
343 public void SetAcceleration (PhysicsVector accel)
344 {
345 this._acceleration = accel;
346 }
347
348 public override void AddForce(PhysicsVector force)
349 {
350
351 }
352
353 public override void SetMomentum(PhysicsVector momentum)
354 {
355
356 }
357
358
359 }
360
361}
diff --git a/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.csproj b/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.csproj
new file mode 100644
index 0000000..ae7bb79
--- /dev/null
+++ b/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.csproj
@@ -0,0 +1,45 @@
1<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
2 <PropertyGroup>
3 <OutputType>Library</OutputType>
4 <RootNamespace>RealPhysXplugin</RootNamespace>
5 <AssemblyName>RealPhysXplugin</AssemblyName>
6 <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
7 <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
8 <ProjectGuid>{56C1D214-F389-4228-921A-0A3A0712C159}</ProjectGuid>
9 </PropertyGroup>
10 <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
11 <OutputPath>bin\Debug\</OutputPath>
12 <Optimize>False</Optimize>
13 <DefineConstants>DEBUG;TRACE</DefineConstants>
14 <DebugSymbols>True</DebugSymbols>
15 <DebugType>Full</DebugType>
16 <CheckForOverflowUnderflow>True</CheckForOverflowUnderflow>
17 </PropertyGroup>
18 <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
19 <OutputPath>bin\Release\</OutputPath>
20 <Optimize>True</Optimize>
21 <DefineConstants>TRACE</DefineConstants>
22 <DebugSymbols>False</DebugSymbols>
23 <DebugType>None</DebugType>
24 <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
25 </PropertyGroup>
26 <ItemGroup>
27 <Reference Include="System" />
28 <Reference Include="System.Xml" />
29 <Reference Include="PhysX_Wrapper_Dotnet">
30 <HintPath>..\..\..\..\bin\PhysX_Wrapper_Dotnet.dll</HintPath>
31 <SpecificVersion>False</SpecificVersion>
32 </Reference>
33 </ItemGroup>
34 <ItemGroup>
35 <Compile Include="RealPhysX.cs" />
36 <Compile Include="AssemblyInfo.cs" />
37 </ItemGroup>
38 <ItemGroup>
39 <ProjectReference Include="..\..\PhysicsManager.csproj">
40 <Project>{3C86A846-7977-4EE7-A8DC-DD487FA5DC2B}</Project>
41 <Name>PhysicsManager</Name>
42 </ProjectReference>
43 </ItemGroup>
44 <Import Project="$(MSBuildBinPath)\Microsoft.CSharp.Targets" />
45</Project> \ No newline at end of file
diff --git a/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.sln b/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.sln
new file mode 100644
index 0000000..34f87e6
--- /dev/null
+++ b/src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.sln
@@ -0,0 +1,7 @@
1
2Microsoft Visual Studio Solution File, Format Version 9.00
3# SharpDevelop 2.1.0.2017
4Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RealPhysXplugin", "RealPhysXplugin.csproj", "{56C1D214-F389-4228-921A-0A3A0712C159}"
5EndProject
6Global
7EndGlobal
diff --git a/src/physics/plugins/PhysXplugin.cs b/src/physics/plugins/PhysXplugin.cs
index 58a82fb..8c09dc8 100644
--- a/src/physics/plugins/PhysXplugin.cs
+++ b/src/physics/plugins/PhysXplugin.cs
@@ -85,14 +85,30 @@ namespace PhysXplugin
85 return act; 85 return act;
86 } 86 }
87 87
88 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
89 {
90 return null;
91 }
92
88 public override void Simulate(float timeStep) 93 public override void Simulate(float timeStep)
89 { 94 {
90 foreach (PhysXActor actor in _actors) 95 foreach (PhysXActor actor in _actors)
91 { 96 {
92 actor.Position.X = actor.Position.X + actor.Velocity.X * timeStep; 97 actor.Position.X = actor.Position.X + (actor.Velocity.X * timeStep);
93 actor.Position.Y = actor.Position.Y + actor.Velocity.Y * timeStep; 98 actor.Position.Y = actor.Position.Y + (actor.Velocity.Y * timeStep);
94 actor.Position.Z = actor.Position.Z + actor.Velocity.Z * timeStep; 99 actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep);
95 actor.Position.Z = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1; 100 /*if(actor.Flying)
101 {
102 actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep);
103 }
104 else
105 {
106 actor.Position.Z = actor.Position.Z + ((-9.8f + actor.Velocity.Z) * timeStep);
107 }
108 if(actor.Position.Z < (_heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1))
109 {*/
110 actor.Position.Z = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1;
111 //}
96 if(actor.Position.X<0) 112 if(actor.Position.X<0)
97 { 113 {
98 actor.Position.X = 0; 114 actor.Position.X = 0;
@@ -140,7 +156,7 @@ namespace PhysXplugin
140 private PhysicsVector _position; 156 private PhysicsVector _position;
141 private PhysicsVector _velocity; 157 private PhysicsVector _velocity;
142 private PhysicsVector _acceleration; 158 private PhysicsVector _acceleration;
143 159 private bool flying;
144 public PhysXActor() 160 public PhysXActor()
145 { 161 {
146 _velocity = new PhysicsVector(); 162 _velocity = new PhysicsVector();
@@ -148,6 +164,18 @@ namespace PhysXplugin
148 _acceleration = new PhysicsVector(); 164 _acceleration = new PhysicsVector();
149 } 165 }
150 166
167 public override bool Flying
168 {
169 get
170 {
171 return false;
172 }
173 set
174 {
175 flying= value;
176 }
177 }
178
151 public override PhysicsVector Position 179 public override PhysicsVector Position
152 { 180 {
153 get 181 get
generated by cgit v1.1 at 2024-12-28 12:22:12 +0000