From 76569ff4fba09f22ed4a06b8073deaed7f64a2e3 Mon Sep 17 00:00:00 2001
From: MW
Date: Sat, 10 Mar 2007 20:30:25 +0000
Subject: A PhysX physics plugin (that actually uses physX now but currently
only works on windows) Can now change direction when walking without stopping
Flying works when using the Physx dll
---
bin/PhysX-wrapper.dll | Bin 0 -> 53248 bytes
bin/PhysX_Wrapper_Dotnet.dll | Bin 0 -> 6656 bytes
src/Main.cs | 8 +-
src/OpenSimClient.cs | 7 +-
src/Second-server.sln | 10 +
src/physics/PhysicsManager.cs | 7 +
.../RealPhysX/RealPhysXplugin/AssemblyInfo.cs | 31 ++
src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs | 361 +++++++++++++++++++++
.../RealPhysXplugin/RealPhysXplugin.csproj | 45 +++
.../RealPhysX/RealPhysXplugin/RealPhysXplugin.sln | 7 +
src/physics/plugins/PhysXplugin.cs | 38 ++-
src/world/Avatar.cs | 103 +++++-
src/world/Primitive.cs | 83 ++++-
src/world/World.cs | 9 +-
14 files changed, 674 insertions(+), 35 deletions(-)
create mode 100644 bin/PhysX-wrapper.dll
create mode 100644 bin/PhysX_Wrapper_Dotnet.dll
create mode 100644 src/physics/RealPhysX/RealPhysXplugin/AssemblyInfo.cs
create mode 100644 src/physics/RealPhysX/RealPhysXplugin/RealPhysX.cs
create mode 100644 src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.csproj
create mode 100644 src/physics/RealPhysX/RealPhysXplugin/RealPhysXplugin.sln
diff --git a/bin/PhysX-wrapper.dll b/bin/PhysX-wrapper.dll
new file mode 100644
index 0000000..73d8b91
Binary files /dev/null and b/bin/PhysX-wrapper.dll differ
diff --git a/bin/PhysX_Wrapper_Dotnet.dll b/bin/PhysX_Wrapper_Dotnet.dll
new file mode 100644
index 0000000..1e97cb5
Binary files /dev/null and b/bin/PhysX_Wrapper_Dotnet.dll differ
diff --git a/src/Main.cs b/src/Main.cs
index 600ce38..3103ea3 100644
--- a/src/Main.cs
+++ b/src/Main.cs
@@ -71,6 +71,7 @@ namespace OpenSim
private PhysicsManager physManager;
private System.Timers.Timer timer1 = new System.Timers.Timer();
private string ConfigDll = "SimConfig.dll";
+ private string _physicsEngine = "PhysX";
public bool sandbox = false;
public bool loginserver = false;
@@ -93,6 +94,11 @@ namespace OpenSim
{
sim.loginserver = true;
}
+ if(args[i] == "-realphysx")
+ {
+ sim._physicsEngine = "RealPhysX";
+ OpenSim.world.Avatar.PhysicsEngineFlying = true;
+ }
}
OpenSim_Main.gridServers = new Grid();
@@ -148,7 +154,7 @@ namespace OpenSim
this.physManager = new PhysicsSystem.PhysicsManager();
this.physManager.LoadPlugins();
ServerConsole.MainConsole.Instance.WriteLine("Main.cs:Startup() - Starting up messaging system");
- local_world.PhysScene = this.physManager.GetPhysicsScene("PhysX"); //should be reading from the config file what physics engine to use
+ local_world.PhysScene = this.physManager.GetPhysicsScene(this._physicsEngine); //should be reading from the config file what physics engine to use
local_world.PhysScene.SetTerrain(local_world.LandMap);
OpenSim_Main.gridServers.AssetServer.SetServerInfo(OpenSim_Main.cfg.AssetURL, OpenSim_Main.cfg.AssetSendKey);
diff --git a/src/OpenSimClient.cs b/src/OpenSimClient.cs
index 50d8c78..dd698e4 100644
--- a/src/OpenSimClient.cs
+++ b/src/OpenSimClient.cs
@@ -135,8 +135,8 @@ namespace OpenSim
{
if(ent.localid == multipleupdate.ObjectData[ i ].ObjectLocalID)
{
- ent.position = pos;
- ((OpenSim.world.Primitive)ent).UpdateFlag = true;
+ ((OpenSim.world.Primitive)ent).UpdatePosition( pos);
+
}
}
@@ -191,6 +191,7 @@ namespace OpenSim
OpenSim_Main.local_world.Entities.Remove(this.AgentID);
}
//need to do other cleaning up here too
+ OpenSim_Main.sim.ClientThreads.Remove(this.userEP);
this.ClientThread.Abort();
break;
case PacketType.ChatFromViewer:
@@ -222,7 +223,7 @@ namespace OpenSim
{
foreach (Packet packet in NeedAck.Values)
{
- if (now - packet.TickCount > RESEND_TIMEOUT)
+ if ((now - packet.TickCount > RESEND_TIMEOUT) && (!packet.Header.Resent))
{
ServerConsole.MainConsole.Instance.WriteLine("Resending " + packet.Type.ToString() + " packet, " +
(now - packet.TickCount) + "ms have passed");
diff --git a/src/Second-server.sln b/src/Second-server.sln
index a460b2a..17c807f 100644
--- a/src/Second-server.sln
+++ b/src/Second-server.sln
@@ -19,6 +19,8 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "ServerConsole", "ServerCons
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Db4LocalStorage", "LocalStorage\Db4LocalStorage\Db4LocalStorage.csproj", "{74784F23-B0FD-484C-82C1-96C0215733DC}"
EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RealPhysXplugin", "physics\RealPhysX\RealPhysXplugin\RealPhysXplugin.csproj", "{56C1D214-F389-4228-921A-0A3A0712C159}"
+EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|.NET 1.1 = Debug|.NET 1.1
@@ -99,6 +101,14 @@ Global
{74784F23-B0FD-484C-82C1-96C0215733DC}.Release|.NET 1.1.ActiveCfg = Release|.NET 1.1
{74784F23-B0FD-484C-82C1-96C0215733DC}.Release|Any CPU.Build.0 = Release|Any CPU
{74784F23-B0FD-484C-82C1-96C0215733DC}.Release|Any CPU.ActiveCfg = Release|Any CPU
+ {56C1D214-F389-4228-921A-0A3A0712C159}.Debug|.NET 1.1.Build.0 = Debug|.NET 1.1
+ {56C1D214-F389-4228-921A-0A3A0712C159}.Debug|.NET 1.1.ActiveCfg = Debug|.NET 1.1
+ {56C1D214-F389-4228-921A-0A3A0712C159}.Debug|Any CPU.Build.0 = Debug|Any CPU
+ {56C1D214-F389-4228-921A-0A3A0712C159}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+ {56C1D214-F389-4228-921A-0A3A0712C159}.Release|.NET 1.1.Build.0 = Release|.NET 1.1
+ {56C1D214-F389-4228-921A-0A3A0712C159}.Release|.NET 1.1.ActiveCfg = Release|.NET 1.1
+ {56C1D214-F389-4228-921A-0A3A0712C159}.Release|Any CPU.Build.0 = Release|Any CPU
+ {56C1D214-F389-4228-921A-0A3A0712C159}.Release|Any CPU.ActiveCfg = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
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
{
public abstract PhysicsActor AddAvatar(PhysicsVector position);
+ public abstract PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size);
+
public abstract void Simulate(float timeStep);
public abstract void GetResults();
@@ -140,6 +142,11 @@ namespace PhysicsSystem
{
get;
}
+ public abstract bool Flying
+ {
+ get;
+ set;
+ }
public abstract void AddForce(PhysicsVector force);
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 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// Information about this assembly is defined by the following
+// attributes.
+//
+// change them to the information which is associated with the assembly
+// you compile.
+
+[assembly: AssemblyTitle("RealPhysXplugin")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("RealPhysXplugin")]
+[assembly: AssemblyCopyright("")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// This sets the default COM visibility of types in the assembly to invisible.
+// If you need to expose a type to COM, use [ComVisible(true)] on that type.
+[assembly: ComVisible(false)]
+
+// The assembly version has following format :
+//
+// Major.Minor.Build.Revision
+//
+// You can specify all values by your own or you can build default build and revision
+// numbers with the '*' character (the default):
+
+[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 @@
+/*
+* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
+*
+* Redistribution and use in source and binary forms, with or without
+* 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
+* notice, this list of conditions and the following disclaimer in the
+* documentation and/or other materials provided with the distribution.
+* * Neither the name of the <organization> nor the
+* names of its contributors may be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``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 <copyright holder> 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
+* 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
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+*/
+/*
+* Copyright (c) OpenSim project, http://sim.opensecondlife.org/
+*
+* Redistribution and use in source and binary forms, with or without
+* 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
+* notice, this list of conditions and the following disclaimer in the
+* documentation and/or other materials provided with the distribution.
+* * Neither the name of the <organization> nor the
+* names of its contributors may be used to endorse or promote products
+* derived from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY <copyright holder> ``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 <copyright holder> 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
+* 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
+* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+*/
+using System;
+using System.Collections.Generic;
+using PhysicsSystem;
+using PhysXWrapper;
+
+namespace PhysXplugin
+{
+ /// <summary>
+ /// Will be the PhysX plugin but for now will be a very basic physics engine
+ /// </summary>
+ public class PhysXPlugin : IPhysicsPlugin
+ {
+ private PhysXScene _mScene;
+
+ public PhysXPlugin()
+ {
+
+ }
+
+ public bool Init()
+ {
+ return true;
+ }
+
+ public PhysicsScene GetScene()
+ {
+ if(_mScene == null)
+ {
+ _mScene = new PhysXScene();
+ }
+ return(_mScene);
+ }
+
+ public string GetName()
+ {
+ return("RealPhysX");
+ }
+
+ public void Dispose()
+ {
+
+ }
+ }
+
+ public class PhysXScene :PhysicsScene
+ {
+ private List<PhysXCharacter> _characters = new List<PhysXCharacter>();
+ private List<PhysXPrim> _prims = new List<PhysXPrim>();
+ private float[] _heightMap;
+ private NxPhysicsSDK mySdk;
+ private NxScene scene;
+
+ public PhysXScene()
+ {
+ mySdk = NxPhysicsSDK.CreateSDK();
+ scene = mySdk.CreateScene();
+
+ }
+
+ public override PhysicsActor AddAvatar(PhysicsVector position)
+ {
+ Vec3 pos = new Vec3();
+ pos.X = position.X;
+ pos.Y = position.Y;
+ pos.Z = position.Z;
+ PhysXCharacter act = new PhysXCharacter( scene.AddCharacter(pos));
+ act.Position = position;
+ _characters.Add(act);
+ return act;
+ }
+
+ public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
+ {
+ Vec3 pos = new Vec3();
+ pos.X = position.X;
+ pos.Y = position.Y;
+ pos.Z = position.Z;
+ Vec3 siz = new Vec3();
+ siz.X = size.X;
+ siz.Y = size.Y;
+ siz.Z = size.Z;
+ PhysXPrim act = new PhysXPrim( scene.AddNewBox(pos, siz));
+ _prims.Add(act);
+ return act;
+ }
+ public override void Simulate(float timeStep)
+ {
+ foreach (PhysXCharacter actor in _characters)
+ {
+ actor.Move(timeStep);
+ }
+ scene.Simulate(timeStep);
+ scene.FetchResults();
+ scene.UpdateControllers();
+
+ foreach (PhysXCharacter actor in _characters)
+ {
+ actor.UpdatePosition();
+ }
+
+ }
+
+ public override void GetResults()
+ {
+
+ }
+
+ public override bool IsThreaded
+ {
+ get
+ {
+ return(false); // for now we won't be multithreaded
+ }
+ }
+
+ public override void SetTerrain(float[] heightMap)
+ {
+ this._heightMap = heightMap;
+ this.scene.AddTerrain(heightMap);
+ }
+ }
+
+ public class PhysXCharacter : PhysicsActor
+ {
+ private PhysicsVector _position;
+ private PhysicsVector _velocity;
+ private PhysicsVector _acceleration;
+ private NxCharacter _character;
+ private bool flying;
+
+ public PhysXCharacter(NxCharacter character)
+ {
+ _velocity = new PhysicsVector();
+ _position = new PhysicsVector();
+ _acceleration = new PhysicsVector();
+ _character = character;
+ }
+
+ public override bool Flying
+ {
+ get
+ {
+ return flying;
+ }
+ set
+ {
+ flying = value;
+ }
+ }
+
+ public override PhysicsVector Position
+ {
+ get
+ {
+ return _position;
+ }
+ set
+ {
+ _position = value;
+ }
+ }
+
+ public override PhysicsVector Velocity
+ {
+ get
+ {
+ return _velocity;
+ }
+ set
+ {
+ _velocity = value;
+ }
+ }
+
+ public override PhysicsVector Acceleration
+ {
+ get
+ {
+ return _acceleration;
+ }
+
+ }
+ 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)
+ {
+ Vec3 vec = new Vec3();
+ vec.X = this._velocity.X * timeStep;
+ vec.Y = this._velocity.Y * timeStep;
+ if(flying)
+ {
+ vec.Z = ( this._velocity.Z) * timeStep;
+ }
+ else
+ {
+ vec.Z = (-9.8f + this._velocity.Z) * timeStep;
+ }
+ this._character.Move(vec);
+ }
+
+ public void UpdatePosition()
+ {
+ Vec3 vec = this._character.Position;
+ this._position.X = vec.X;
+ this._position.Y = vec.Y;
+ this._position.Z = vec.Z;
+ }
+ }
+
+ public class PhysXPrim : PhysicsActor
+ {
+ private PhysicsVector _position;
+ private PhysicsVector _velocity;
+ private PhysicsVector _acceleration;
+ private NxActor _prim;
+
+ public PhysXPrim(NxActor prim)
+ {
+ _velocity = new PhysicsVector();
+ _position = new PhysicsVector();
+ _acceleration = new PhysicsVector();
+ _prim = prim;
+ }
+ public override bool Flying
+ {
+ get
+ {
+ return false; //no flying prims for you
+ }
+ set
+ {
+
+ }
+ }
+ public override PhysicsVector Position
+ {
+ get
+ {
+ PhysicsVector pos = new PhysicsVector();
+ Vec3 vec = this._prim.Position;
+ pos.X = vec.X;
+ pos.Y = vec.Y;
+ pos.Z = vec.Z;
+ return pos;
+
+ }
+ set
+ {
+ PhysicsVector vec = value;
+ Vec3 pos = new Vec3();
+ pos.X = vec.X;
+ pos.Y = vec.Y;
+ pos.Z = vec.Z;
+ this._prim.Position = pos;
+ }
+ }
+
+ public override PhysicsVector Velocity
+ {
+ get
+ {
+ return _velocity;
+ }
+ set
+ {
+ _velocity = value;
+ }
+ }
+
+ public override PhysicsVector Acceleration
+ {
+ get
+ {
+ return _acceleration;
+ }
+
+ }
+ public void SetAcceleration (PhysicsVector accel)
+ {
+ this._acceleration = accel;
+ }
+
+ public override void AddForce(PhysicsVector force)
+ {
+
+ }
+
+ public override void SetMomentum(PhysicsVector momentum)
+ {
+
+ }
+
+
+ }
+
+}
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 @@
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+ <PropertyGroup>
+ <OutputType>Library</OutputType>
+ <RootNamespace>RealPhysXplugin</RootNamespace>
+ <AssemblyName>RealPhysXplugin</AssemblyName>
+ <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+ <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+ <ProjectGuid>{56C1D214-F389-4228-921A-0A3A0712C159}</ProjectGuid>
+ </PropertyGroup>
+ <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+ <OutputPath>bin\Debug\</OutputPath>
+ <Optimize>False</Optimize>
+ <DefineConstants>DEBUG;TRACE</DefineConstants>
+ <DebugSymbols>True</DebugSymbols>
+ <DebugType>Full</DebugType>
+ <CheckForOverflowUnderflow>True</CheckForOverflowUnderflow>
+ </PropertyGroup>
+ <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+ <OutputPath>bin\Release\</OutputPath>
+ <Optimize>True</Optimize>
+ <DefineConstants>TRACE</DefineConstants>
+ <DebugSymbols>False</DebugSymbols>
+ <DebugType>None</DebugType>
+ <CheckForOverflowUnderflow>False</CheckForOverflowUnderflow>
+ </PropertyGroup>
+ <ItemGroup>
+ <Reference Include="System" />
+ <Reference Include="System.Xml" />
+ <Reference Include="PhysX_Wrapper_Dotnet">
+ <HintPath>..\..\..\..\bin\PhysX_Wrapper_Dotnet.dll</HintPath>
+ <SpecificVersion>False</SpecificVersion>
+ </Reference>
+ </ItemGroup>
+ <ItemGroup>
+ <Compile Include="RealPhysX.cs" />
+ <Compile Include="AssemblyInfo.cs" />
+ </ItemGroup>
+ <ItemGroup>
+ <ProjectReference Include="..\..\PhysicsManager.csproj">
+ <Project>{3C86A846-7977-4EE7-A8DC-DD487FA5DC2B}</Project>
+ <Name>PhysicsManager</Name>
+ </ProjectReference>
+ </ItemGroup>
+ <Import Project="$(MSBuildBinPath)\Microsoft.CSharp.Targets" />
+</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 @@
+
+Microsoft Visual Studio Solution File, Format Version 9.00
+# SharpDevelop 2.1.0.2017
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RealPhysXplugin", "RealPhysXplugin.csproj", "{56C1D214-F389-4228-921A-0A3A0712C159}"
+EndProject
+Global
+EndGlobal
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
return act;
}
+ public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
+ {
+ return null;
+ }
+
public override void Simulate(float timeStep)
{
foreach (PhysXActor actor in _actors)
{
- actor.Position.X = actor.Position.X + actor.Velocity.X * timeStep;
- actor.Position.Y = actor.Position.Y + actor.Velocity.Y * timeStep;
- actor.Position.Z = actor.Position.Z + actor.Velocity.Z * timeStep;
- actor.Position.Z = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1;
+ actor.Position.X = actor.Position.X + (actor.Velocity.X * timeStep);
+ actor.Position.Y = actor.Position.Y + (actor.Velocity.Y * timeStep);
+ actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep);
+ /*if(actor.Flying)
+ {
+ actor.Position.Z = actor.Position.Z + (actor.Velocity.Z * timeStep);
+ }
+ else
+ {
+ actor.Position.Z = actor.Position.Z + ((-9.8f + actor.Velocity.Z) * timeStep);
+ }
+ if(actor.Position.Z < (_heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1))
+ {*/
+ actor.Position.Z = _heightMap[(int)actor.Position.Y * 256 + (int)actor.Position.X]+1;
+ //}
if(actor.Position.X<0)
{
actor.Position.X = 0;
@@ -140,7 +156,7 @@ namespace PhysXplugin
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
-
+ private bool flying;
public PhysXActor()
{
_velocity = new PhysicsVector();
@@ -148,6 +164,18 @@ namespace PhysXplugin
_acceleration = new PhysicsVector();
}
+ public override bool Flying
+ {
+ get
+ {
+ return false;
+ }
+ set
+ {
+ flying= value;
+ }
+ }
+
public override PhysicsVector Position
{
get
diff --git a/src/world/Avatar.cs b/src/world/Avatar.cs
index c09c008..facfeee 100644
--- a/src/world/Avatar.cs
+++ b/src/world/Avatar.cs
@@ -11,15 +11,17 @@ namespace OpenSim.world
{
public class Avatar : Entity
{
+ public static bool PhysicsEngineFlying;
public string firstname;
public string lastname;
public OpenSimClient ControllingClient;
private PhysicsActor _physActor;
private static libsecondlife.Packets.ObjectUpdatePacket.ObjectDataBlock AvatarTemplate;
private bool updateflag;
- private bool walking;
+ private byte movementflag;
private List<NewForce> forcesList = new List<NewForce>();
private short _updateCount;
+ private Axiom.MathLib.Quaternion bodyRot;
public Avatar(OpenSimClient TheClient) {
ServerConsole.MainConsole.Instance.WriteLine("Avatar.cs - Loading details from grid (DUMMY)");
@@ -77,14 +79,14 @@ namespace OpenSim.world
}
updateflag =false;
- this._updateCount = 0;
+ //this._updateCount = 0;
}
else
{
- if(walking)
- {
+ //if((movementflag & 1) !=0)
+ //{
_updateCount++;
- if(_updateCount>3)
+ if(( (!PhysicsEngineFlying) && (_updateCount>3)) || (_updateCount>0))
{
//It has been a while since last update was sent so lets send one.
ImprovedTerseObjectUpdatePacket.ObjectDataBlock terseBlock = CreateTerseBlock();
@@ -98,7 +100,7 @@ namespace OpenSim.world
}
_updateCount = 0;
}
- }
+ //}
}
}
@@ -249,36 +251,111 @@ namespace OpenSim.world
}
public void HandleUpdate(AgentUpdatePacket pack) {
- if(((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_AT_POS) !=0) {
- if(!walking)
+ if(((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_FLY) !=0)
+ {
+ this._physActor.Flying = true;
+ }
+ else
+ {
+ this._physActor.Flying = false;
+ }
+ if(((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_AT_POS) !=0) {
+ Axiom.MathLib.Quaternion q = new Axiom.MathLib.Quaternion(pack.AgentData.BodyRotation.W, pack.AgentData.BodyRotation.X, pack.AgentData.BodyRotation.Y, pack.AgentData.BodyRotation.Z);
+ if(((movementflag & 1) ==0) || (q!= this.bodyRot))
{
- //we should add a new force to the list
+ //we should add a new force to the list
// but for now we will deal with velocities
NewForce newVelocity = new NewForce();
Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(1, 0, 0);
- Axiom.MathLib.Quaternion q = new Axiom.MathLib.Quaternion(pack.AgentData.BodyRotation.W, pack.AgentData.BodyRotation.X, pack.AgentData.BodyRotation.Y, pack.AgentData.BodyRotation.Z);
Axiom.MathLib.Vector3 direc = q * v3;
direc.Normalize();
//work out velocity for sim physics system
direc = direc * ((0.03f) * 128f);
+ if(this._physActor.Flying)
+ direc *=2;
+
+ newVelocity.X = direc.x;
+ newVelocity.Y = direc.y;
+ newVelocity.Z = direc.z;
+ this.forcesList.Add(newVelocity);
+ movementflag = 1;
+ this.bodyRot = q;
+ }
+ }
+ else if((((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_UP_POS) !=0) &&(PhysicsEngineFlying)) {
+ if(((movementflag & 2) ==0) && this._physActor.Flying)
+ {
+ //we should add a new force to the list
+ // but for now we will deal with velocities
+ NewForce newVelocity = new NewForce();
+ Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(0, 0, 1);
+ Axiom.MathLib.Vector3 direc = v3;
+ direc.Normalize();
+
+ //work out velocity for sim physics system
+ direc = direc * ((0.03f) * 128f *2);
+ newVelocity.X = direc.x;
+ newVelocity.Y = direc.y;
+ newVelocity.Z = direc.z;
+ this.forcesList.Add(newVelocity);
+ movementflag = 2;
+ }
+ }
+ else if((((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_UP_NEG) !=0) && (PhysicsEngineFlying)) {
+ if(((movementflag & 4) ==0) && this._physActor.Flying)
+ {
+ //we should add a new force to the list
+ // but for now we will deal with velocities
+ NewForce newVelocity = new NewForce();
+ Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(0, 0, -1);
+ //Axiom.MathLib.Quaternion q = new Axiom.MathLib.Quaternion(pack.AgentData.BodyRotation.W, pack.AgentData.BodyRotation.X, pack.AgentData.BodyRotation.Y, pack.AgentData.BodyRotation.Z);
+ Axiom.MathLib.Vector3 direc = v3;
+ direc.Normalize();
+
+ //work out velocity for sim physics system
+ direc = direc * ((0.03f) * 128f *2);
+ newVelocity.X = direc.x;
+ newVelocity.Y = direc.y;
+ newVelocity.Z = direc.z;
+ this.forcesList.Add(newVelocity);
+ movementflag = 4;
+ }
+ }
+ else if(((uint)pack.AgentData.ControlFlags & (uint)MainAvatar.AgentUpdateFlags.AGENT_CONTROL_AT_NEG) !=0) {
+ Axiom.MathLib.Quaternion q = new Axiom.MathLib.Quaternion(pack.AgentData.BodyRotation.W, pack.AgentData.BodyRotation.X, pack.AgentData.BodyRotation.Y, pack.AgentData.BodyRotation.Z);
+ if(((movementflag & 8) ==0) || (q!= this.bodyRot))
+ {
+ //we should add a new force to the list
+ // but for now we will deal with velocities
+ NewForce newVelocity = new NewForce();
+ Axiom.MathLib.Vector3 v3 = new Axiom.MathLib.Vector3(-1, 0, 0);
+ Axiom.MathLib.Vector3 direc = q * v3;
+ direc.Normalize();
+
+ //work out velocity for sim physics system
+ direc = direc * ((0.03f) * 128f);
+ if(this._physActor.Flying)
+ direc *=2;
+
newVelocity.X = direc.x;
newVelocity.Y = direc.y;
newVelocity.Z = direc.z;
this.forcesList.Add(newVelocity);
- walking=true;
+ movementflag = 8;
+ this.bodyRot = q;
}
}
else
{
- if(walking)
+ if((movementflag) !=0)
{
NewForce newVelocity = new NewForce();
newVelocity.X = 0;
newVelocity.Y = 0;
newVelocity.Z = 0;
this.forcesList.Add(newVelocity);
- walking = false;
+ movementflag = 0;
}
}
}
diff --git a/src/world/Primitive.cs b/src/world/Primitive.cs
index 0d7d951..6be33ef 100644
--- a/src/world/Primitive.cs
+++ b/src/world/Primitive.cs
@@ -5,6 +5,7 @@ using OpenSim.types;
using libsecondlife;
using libsecondlife.Packets;
using GridInterfaces;
+using PhysicsSystem;
namespace OpenSim.world
{
@@ -16,8 +17,21 @@ namespace OpenSim.world
protected bool newPrimFlag;
protected bool updateFlag;
protected bool dirtyFlag;
- protected ObjectUpdatePacket OurPacket;
+ private ObjectUpdatePacket OurPacket;
+ private PhysicsActor _physActor;
+ private bool physicsEnabled;
+ public bool PhysicsEnabled
+ {
+ get
+ {
+ return physicsEnabled;
+ }
+ set
+ {
+ physicsEnabled = value;
+ }
+ }
public bool UpdateFlag
{
get
@@ -41,6 +55,14 @@ namespace OpenSim.world
return this.primData.Scale;
}
}
+ public PhysicsActor PhysActor
+ {
+ set
+ {
+ this._physActor = value;
+ }
+ }
+
public Primitive()
{
mesh_cutbegin = 0.0f;
@@ -61,6 +83,16 @@ namespace OpenSim.world
return mesh;
}
+ public void UpdatePosition( LLVector3 pos)
+ {
+ this.position = pos;
+ if(this._physActor != null && this.physicsEnabled)
+ {
+ this._physActor.Position = new PhysicsVector(pos.X, pos.Y, pos.Z);
+ }
+ this.updateFlag = true;
+ }
+
public override void update()
{
if(this.newPrimFlag)
@@ -89,13 +121,39 @@ namespace OpenSim.world
}
this.dirtyFlag = false;
}
-
+ else
+ {
+ if(this._physActor != null && this.physicsEnabled)
+ {
+ ImprovedTerseObjectUpdatePacket terse = new ImprovedTerseObjectUpdatePacket();
+ terse.RegionData.RegionHandle = OpenSim_Main.cfg.RegionHandle; // FIXME
+ terse.RegionData.TimeDilation = 64096;
+ terse.ObjectData = new ImprovedTerseObjectUpdatePacket.ObjectDataBlock[1];
+ terse.ObjectData[0] = this.CreateImprovedBlock();
+ foreach(OpenSimClient client in OpenSim_Main.sim.ClientThreads.Values) {
+ client.OutPacket(terse);
+ }
+ }
+ }
}
public void UpdateClient(OpenSimClient RemoteClient)
{
- byte[] pb = this.position.GetBytes();
+
+ LLVector3 lPos;
+ if( this._physActor != null && this.physicsEnabled)
+ {
+ PhysicsVector pPos = this._physActor.Position;
+ lPos = new LLVector3( pPos.X, pPos.Y, pPos.Z);
+ }
+ else
+ {
+ lPos = this.position;
+ }
+ byte[] pb = lPos.GetBytes();
Array.Copy(pb, 0, OurPacket.ObjectData[0].ObjectData, 0, pb.Length);
+
+ // OurPacket should be update with the follwing in updateShape() rather than having to do it here
OurPacket.ObjectData[0].OwnerID = this.primData.OwnerID;
OurPacket.ObjectData[0].PCode = this.primData.PCode;
OurPacket.ObjectData[0].PathBegin = this.primData.PathBegin;
@@ -137,7 +195,6 @@ namespace OpenSim.world
this.primData.PathCurve = addPacket.PathCurve;
this.primData.ProfileCurve = addPacket.ProfileCurve;
this.primData.ProfileHollow = addPacket.ProfileHollow;
-
this.primData.PathRadiusOffset = addPacket.PathRadiusOffset;
this.primData.PathRevolutions = addPacket.PathRevolutions;
this.primData.PathTaperX = addPacket.PathTaperX;
@@ -145,7 +202,6 @@ namespace OpenSim.world
this.primData.PathTwist = addPacket.PathTwist;
this.primData.PathTwistBegin =addPacket.PathTwistBegin;
this.dirtyFlag = true;
-
}
public void CreateFromPacket( ObjectAddPacket addPacket, LLUUID agentID, uint localID)
@@ -162,7 +218,6 @@ namespace OpenSim.world
objupdate.ObjectData[0].ExtraParams = new byte[1];
objupdate.ObjectData[0].MediaURL = new byte[0];
objupdate.ObjectData[0].NameValue = new byte[0];
- objupdate.ObjectData[0].PSBlock = new byte[0];
objupdate.ObjectData[0].Text = new byte[0];
objupdate.ObjectData[0].TextColor = new byte[4];
objupdate.ObjectData[0].JointAxisOrAnchor = new LLVector3(0,0,0);
@@ -232,7 +287,6 @@ namespace OpenSim.world
objupdate.ObjectData[0].ExtraParams = new byte[1];
objupdate.ObjectData[0].MediaURL = new byte[0];
objupdate.ObjectData[0].NameValue = new byte[0];
- objupdate.ObjectData[0].PSBlock = new byte[0];
objupdate.ObjectData[0].Text = new byte[0];
objupdate.ObjectData[0].TextColor = new byte[4];
objupdate.ObjectData[0].JointAxisOrAnchor = new LLVector3(0,0,0);
@@ -291,7 +345,6 @@ namespace OpenSim.world
uint ID = this.localid;
byte[] bytes = new byte[60];
-
int i = 0;
ImprovedTerseObjectUpdatePacket.ObjectDataBlock dat = new ImprovedTerseObjectUpdatePacket.ObjectDataBlock();
dat.TextureEntry = this.OurPacket.ObjectData[0].TextureEntry;
@@ -302,8 +355,18 @@ namespace OpenSim.world
bytes[i++] = (byte)((ID >> 24) % 256);
bytes[i++]= 0;
bytes[i++]= 0;
-
- byte[] pb = this.position.GetBytes();
+
+ LLVector3 lPos;
+ if( this._physActor != null && this.physicsEnabled)
+ {
+ PhysicsVector pPos = this._physActor.Position;
+ lPos = new LLVector3( pPos.X, pPos.Y, pPos.Z);
+ }
+ else
+ {
+ lPos = this.position;
+ }
+ byte[] pb = lPos.GetBytes();
Array.Copy(pb, 0, bytes, i, pb.Length);
i += 12;
ushort ac = 32767;
diff --git a/src/world/World.cs b/src/world/World.cs
index fb78819..e1c84bc 100644
--- a/src/world/World.cs
+++ b/src/world/World.cs
@@ -176,9 +176,8 @@ namespace OpenSim.world
ServerConsole.MainConsole.Instance.WriteLine("World.cs:AddViewerAgent() - Adding new avatar to world");
ServerConsole.MainConsole.Instance.WriteLine("World.cs:AddViewerAgent() - Starting RegionHandshake ");
NewAvatar.SendRegionHandshake(this);
-
- NewAvatar.PhysActor = this.phyScene.AddAvatar(new PhysicsVector(NewAvatar.position.X, NewAvatar.position.Y, NewAvatar.position.Z));
- //this.Update(); // will work for now, but needs to be optimised so we don't update everything in the sim for each new user
+ PhysicsVector pVec = new PhysicsVector(NewAvatar.position.X, NewAvatar.position.Y, NewAvatar.position.Z);
+ NewAvatar.PhysActor = this.phyScene.AddAvatar(pVec);
this.Entities.Add(AgentClient.AgentID, NewAvatar);
}
@@ -187,6 +186,10 @@ namespace OpenSim.world
ServerConsole.MainConsole.Instance.WriteLine("World.cs: AddNewPrim() - Creating new prim");
Primitive prim = new Primitive();
prim.CreateFromPacket(addPacket, AgentClient.AgentID, this._primCount);
+ PhysicsVector pVec = new PhysicsVector(prim.position.X, prim.position.Y, prim.position.Z);
+ PhysicsVector pSize = new PhysicsVector( 0.25f, 0.25f, 0.25f);
+ //prim.PhysActor = this.phyScene.AddPrim(pVec, pSize );
+ //prim.PhysicsEnabled = true;
this.Entities.Add(prim.uuid, prim);
this._primCount++;
}
--
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