From 76394f46a5d0203b7686fb9001796f5394f96f26 Mon Sep 17 00:00:00 2001
From: MW
Date: Tue, 4 Sep 2007 18:14:45 +0000
Subject: Part 2 of Darok's BulletX patches.
---
.../Region/Physics/BulletXPlugin/BulletXPlugin.cs | 250 ++++++++++-----------
1 file changed, 115 insertions(+), 135 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index b38eea0..57a6092 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -1,9 +1,11 @@
+#region Copyright
/*
* Copyright (c) Contributors, http://www.openmetaverse.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
+* modification, are permitted provided that the following conditions are
+met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
@@ -11,27 +13,33 @@
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSim Project nor the
* names of its contributors may be used to endorse or promote products
-* derived from this software without specific prior written permission.
+* derived from this software without specific prior written
+permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
+#endregion
#region References
using System;
using System.Collections.Generic;
using OpenSim.Region.Physics.Manager;
using Axiom.Math;
+using AxiomQuaternion = Axiom.Math.Quaternion;
//Specific References for BulletXPlugin
-using MonoXnaCompactMaths;
+using MonoXnaCompactMaths; //Called as MXCM
using XnaDevRu.BulletX;
using XnaDevRu.BulletX.Dynamics;
#endregion
@@ -43,37 +51,24 @@ namespace OpenSim.Region.Physics.BulletXPlugin
///
public class BulletXConversions
{
+ //Vector3
public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
{
return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
}
- public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3)
- {
- XnaVector3.X = physicsVector.X;
- XnaVector3.Y = physicsVector.Y;
- XnaVector3.Z = physicsVector.Z;
- }
public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3)
{
return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
}
- /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector)
- {
- xnaVector3.X = physicsVector.X;
- xnaVector3.Y = physicsVector.Y;
- xnaVector3.Z = physicsVector.Z;
- }*/
- #region Axiom and Xna
- /////
- ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know
- /////
- /////
- /////
- //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3)
- //{
- // return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z);
- //}
- #endregion
+ //Quaternion
+ public static MonoXnaCompactMaths.Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion)
+ {
+ return new MonoXnaCompactMaths.Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w);
+ }
+ public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(MonoXnaCompactMaths.Quaternion xnaQuaternion)
+ {
+ return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z);
+ }
}
///
/// PhysicsPlugin Class for BulletX
@@ -127,6 +122,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
private float[] _heightmap;
private List _characters = new List();
+ private List _prims = new List();
public static float Gravity { get { return gravity; } }
public static float HeightLevel0 { get { return heightLevel0; } }
@@ -146,7 +142,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin
this._heightmap = new float[65536];
}
-
public override PhysicsActor AddAvatar(PhysicsVector position)
{
PhysicsVector pos = new PhysicsVector();
@@ -154,31 +149,26 @@ namespace OpenSim.Region.Physics.BulletXPlugin
pos.Y = position.Y;
pos.Z = position.Z + 20;
BulletXCharacter newAv = new BulletXCharacter(this, pos);
- this._characters.Add(newAv);
+ _characters.Add(newAv);
return newAv;
}
-
public override void RemoveAvatar(PhysicsActor actor)
{
-
+ if (actor is BulletXCharacter)
+ {
+ _characters.Remove((BulletXCharacter)actor);
+ }
}
-
- public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, Axiom.Math.Quaternion rotation)
+ public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
{
- PhysicsVector pos = new PhysicsVector();
- pos.X = position.X;
- pos.Y = position.Y;
- pos.Z = position.Z;
- PhysicsVector siz = new PhysicsVector();
- siz.X = size.X;
- siz.Y = size.Y;
- siz.Z = size.Z;
- return new BulletXPrim();
+ return new BulletXPrim(this, position, size, rotation);
}
-
public override void RemovePrim(PhysicsActor prim)
{
- throw new Exception("The method or operation is not implemented.");
+ if (prim is BulletXPrim)
+ {
+ _prims.Remove((BulletXPrim)prim);
+ }
}
public override void Simulate(float timeStep)
{
@@ -200,12 +190,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
-
public override void GetResults()
{
}
-
public override bool IsThreaded
{
get
@@ -213,7 +201,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin
return (false); // for now we won't be multithreaded
}
}
-
public override void SetTerrain(float[] heightMap)
{
//As the same as ODE, heightmap (x,y) must be swapped for BulletX
@@ -226,7 +213,6 @@ namespace OpenSim.Region.Physics.BulletXPlugin
this._heightmap[i] = heightMap[x * 256 + y];
}
}
-
public override void DeleteTerrain()
{
@@ -239,7 +225,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
private PhysicsVector _position;
private PhysicsVector _velocity;
+ private PhysicsVector _size;
private PhysicsVector _acceleration;
+ private AxiomQuaternion _orientation;
private bool flying;
private RigidBody rigidBody;
public Axiom.Math.Vector2 RigidBodyHorizontalPosition
@@ -250,10 +238,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
+ : this(parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
+ AxiomQuaternion.Identity)
+ {
+ }
+ public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
+ PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
{
- _velocity = new PhysicsVector();
_position = pos;
- _acceleration = new PhysicsVector();
+ _velocity = velocity;
+ _size = size;
+ _acceleration = acceleration;
+ _orientation = orientation;
float _mass = 50.0f; //This depends of avatar's dimensions
Matrix _startTransform = Matrix.Identity;
_startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos);
@@ -275,102 +271,91 @@ namespace OpenSim.Region.Physics.BulletXPlugin
parent_scene.ddWorld.AddRigidBody(rigidBody);
}
-
- public override bool Flying
+ public override PhysicsVector Position
{
get
{
- return flying;
+ return _position;
}
set
{
- flying = value;
+ _position = value;
}
}
-
- public override PhysicsVector Size
+ public override PhysicsVector Velocity
{
get
{
- throw new Exception("The method or operation is not implemented.");
+ return _velocity;
}
set
{
- throw new Exception("The method or operation is not implemented.");
+ _velocity = value;
}
}
-
- public override PhysicsVector Position
+ public override PhysicsVector Size
{
get
{
- return _position;
+ return _size;
}
set
{
- _position = value;
+ _size = value;
}
}
-
- public override PhysicsVector Velocity
+ public override PhysicsVector Acceleration
{
get
{
- return _velocity;
- }
- set
- {
- _velocity = value;
+ return _acceleration;
}
}
-
- public override bool Kinematic
+ public override AxiomQuaternion Orientation
{
get
{
- return false;
+ return _orientation;
}
set
{
-
+ _orientation = value;
}
}
-
- public override Axiom.Math.Quaternion Orientation
+ public override bool Flying
{
get
{
- return Axiom.Math.Quaternion.Identity;
+ return flying;
}
set
{
-
+ flying = value;
}
}
-
- public override PhysicsVector Acceleration
+ public void SetAcceleration(PhysicsVector accel)
+ {
+ _acceleration = accel;
+ }
+ public override bool Kinematic
{
get
{
- return _acceleration;
+ return false;
}
+ set
+ {
+ }
}
- public void SetAcceleration(PhysicsVector accel)
- {
- this._acceleration = accel;
- }
-
public override void AddForce(PhysicsVector force)
{
}
-
public override void SetMomentum(PhysicsVector momentum)
{
}
-
public void Move(float timeStep)
{
MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();
@@ -419,12 +404,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
rigidBody.LinearVelocity = vec;
}
-
public void UpdatePosition()
{
this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
}
-
//This validation is very basic
internal void ValidateHeight(float heighmapPositionValue)
{
@@ -445,104 +428,101 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
private PhysicsVector _position;
private PhysicsVector _velocity;
+ private PhysicsVector _size;
private PhysicsVector _acceleration;
+ private AxiomQuaternion _orientation;
- public BulletXPrim()
+ public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation)
+ : this(parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation)
{
- _velocity = new PhysicsVector();
- _position = new PhysicsVector();
- _acceleration = new PhysicsVector();
}
- public override bool Flying
+ public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size,
+ PhysicsVector aceleration, AxiomQuaternion rotation)
+ {
+ _position = pos;
+ _velocity = velocity;
+ _size = size;
+ _acceleration = aceleration;
+ _orientation = rotation;
+ }
+ public override PhysicsVector Position
{
get
{
- return false; //no flying prims for you
+ return _position;
+
}
set
{
-
+ _position = value;
}
}
- public override PhysicsVector Size
+ public override PhysicsVector Velocity
{
get
{
- throw new Exception("The method or operation is not implemented.");
+ return _velocity;
}
set
{
- throw new Exception("The method or operation is not implemented.");
+ _velocity = value;
}
}
- public override PhysicsVector Position
+ public override PhysicsVector Size
{
get
{
- PhysicsVector pos = new PhysicsVector();
- // PhysicsVector vec = this._prim.Position;
- //pos.X = vec.X;
- //pos.Y = vec.Y;
- //pos.Z = vec.Z;
- return pos;
-
+ return _size;
}
set
{
- /*PhysicsVector vec = value;
- PhysicsVector pos = new PhysicsVector();
- pos.X = vec.X;
- pos.Y = vec.Y;
- pos.Z = vec.Z;
- this._prim.Position = pos;*/
+ _size = value;
}
}
- public override PhysicsVector Velocity
+ public override PhysicsVector Acceleration
{
get
{
- return _velocity;
- }
- set
- {
- _velocity = value;
+ return _acceleration;
}
}
- public override bool Kinematic
+ public override AxiomQuaternion Orientation
{
get
{
- return false;
- //return this._prim.Kinematic;
+ return _orientation;
}
set
{
- //this._prim.Kinematic = value;
+ _orientation = value;
}
}
- public override Axiom.Math.Quaternion Orientation
+ public override bool Flying
{
get
{
- Axiom.Math.Quaternion res = new Axiom.Math.Quaternion();
- return res;
+ return false; //no flying prims for you
}
set
{
}
}
- public override PhysicsVector Acceleration
+ public void SetAcceleration(PhysicsVector accel)
+ {
+ _acceleration = accel;
+ }
+ public override bool Kinematic
{
get
{
- return _acceleration;
+ return false;
+ //return this._prim.Kinematic;
+ }
+ set
+ {
+ //this._prim.Kinematic = value;
}
-
- }
- public void SetAcceleration(PhysicsVector accel)
- {
- this._acceleration = accel;
}
public override void AddForce(PhysicsVector force)
{
--
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