From 7daa3955bc3a1918e40962851f9e8d38597a245e Mon Sep 17 00:00:00 2001 From: gareth Date: Thu, 22 Mar 2007 10:11:15 +0000 Subject: brought zircon branch into trunk --- OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs | 31 ++ .../BasicPhysicsPlugin/BasicPhysicsPlugin.cs | 251 ++++++++++++ .../OpenSim.Physics.BasicPhysicsPlugin.csproj | 90 +++++ .../OpenSim.Physics.BasicPhysicsPlugin.csproj.user | 12 + .../OpenSim.Physics.BasicPhysicsPlugin.dll.build | 42 ++ OpenSim.Physics/Manager/AssemblyInfo.cs | 31 ++ .../Manager/OpenSim.Physics.Manager.csproj | 102 +++++ .../Manager/OpenSim.Physics.Manager.dll.build | 46 +++ OpenSim.Physics/Manager/PhysicsActor.cs | 161 ++++++++ OpenSim.Physics/Manager/PhysicsManager.cs | 116 ++++++ OpenSim.Physics/Manager/PhysicsScene.cs | 98 +++++ OpenSim.Physics/Manager/PhysicsVector.cs | 54 +++ OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs | 31 ++ .../PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj | 93 +++++ .../OpenSim.Physics.PhysXPlugin.dll.build | 43 +++ OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs | 422 +++++++++++++++++++++ 16 files changed, 1623 insertions(+) create mode 100644 OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs create mode 100644 OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs create mode 100644 OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj create mode 100644 OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user create mode 100644 OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build create mode 100644 OpenSim.Physics/Manager/AssemblyInfo.cs create mode 100644 OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj create mode 100644 OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build create mode 100644 OpenSim.Physics/Manager/PhysicsActor.cs create mode 100644 OpenSim.Physics/Manager/PhysicsManager.cs create mode 100644 OpenSim.Physics/Manager/PhysicsScene.cs create mode 100644 OpenSim.Physics/Manager/PhysicsVector.cs create mode 100644 OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs create mode 100644 OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj create mode 100644 OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build create mode 100644 OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs (limited to 'OpenSim.Physics') diff --git a/OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs b/OpenSim.Physics/BasicPhysicsPlugin/AssemblyInfo.cs new file mode 100644 index 0000000..0c9c06c --- /dev/null +++ b/OpenSim.Physics/BasicPhysicsPlugin/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("PhysXplugin")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("PhysXplugin")] +[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/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs b/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs new file mode 100644 index 0000000..deff803 --- /dev/null +++ b/OpenSim.Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs @@ -0,0 +1,251 @@ +/* +* 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 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 ``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 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 OpenSim.Physics.Manager; + +namespace OpenSim.Physics.BasicPhysicsPlugin +{ + /// + /// Will be the PhysX plugin but for now will be a very basic physics engine + /// + public class BasicPhysicsPlugin : IPhysicsPlugin + { + private BasicScene _mScene; + + public BasicPhysicsPlugin() + { + + } + + public bool Init() + { + return true; + } + + public PhysicsScene GetScene() + { + if(_mScene == null) + { + _mScene = new BasicScene(); + } + return(_mScene); + } + + public string GetName() + { + return("basicphysics"); + } + + public void Dispose() + { + + } + } + + public class BasicScene :PhysicsScene + { + private List _actors = new List(); + private float[] _heightMap; + + public BasicScene() + { + + } + + public override PhysicsActor AddAvatar(PhysicsVector position) + { + BasicActor act = new BasicActor(); + act.Position = position; + _actors.Add(act); + return act; + } + + public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) + { + return null; + } + + public override void Simulate(float timeStep) + { + foreach (BasicActor 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); + /*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; + actor.Velocity.X = 0; + } + if(actor.Position.Y < 0) + { + actor.Position.Y = 0; + actor.Velocity.Y = 0; + } + if(actor.Position.X > 255) + { + actor.Position.X = 255; + actor.Velocity.X = 0; + } + if(actor.Position.Y > 255) + { + actor.Position.Y = 255; + actor.Velocity.X = 0; + } + } + } + + 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; + } + } + + public class BasicActor : PhysicsActor + { + private PhysicsVector _position; + private PhysicsVector _velocity; + private PhysicsVector _acceleration; + private bool flying; + public BasicActor() + { + _velocity = new PhysicsVector(); + _position = new PhysicsVector(); + _acceleration = new PhysicsVector(); + } + + public override bool Flying + { + get + { + return false; + } + 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 Axiom.MathLib.Quaternion Orientation + { + get + { + return Axiom.MathLib.Quaternion.Identity; + } + set + { + + } + } + + public override PhysicsVector Acceleration + { + get + { + return _acceleration; + } + + } + + public override bool Kinematic + { + get + { + return true; + } + set + { + + } + } + public void SetAcceleration (PhysicsVector accel) + { + this._acceleration = accel; + } + + public override void AddForce(PhysicsVector force) + { + + } + + public override void SetMomentum(PhysicsVector momentum) + { + + } + } + +} diff --git a/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj b/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj new file mode 100644 index 0000000..dbfebd3 --- /dev/null +++ b/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj @@ -0,0 +1,90 @@ + + + Local + 8.0.50727 + 2.0 + {00594B9E-29A5-4B9C-AEBD-0AD08C73CFE8} + Debug + AnyCPU + + + + OpenSim.Physics.BasicPhysicsPlugin + JScript + Grid + IE50 + false + Library + + OpenSim.Physics.BasicPhysicsPlugin + + + + + + False + 285212672 + False + + + TRACE;DEBUG + + True + 4096 + False + ..\..\bin\Physics\ + False + False + False + 4 + + + + False + 285212672 + False + + + TRACE + + False + 4096 + True + ..\..\bin\Physics\ + False + False + False + 4 + + + + + \System.dll + + + \Axiom.MathLib.dll.dll + + + + + OpenSim.Physics.Manager + {58360A80-9333-4E0F-8F83-3CF937E51633} + {FAE04EC0-301F-11D3-BF4B-00C04F79EFBC} + + + + + Code + + + Code + + + + + + + + + + diff --git a/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user b/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user new file mode 100644 index 0000000..13e65a8 --- /dev/null +++ b/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.csproj.user @@ -0,0 +1,12 @@ + + + Debug + AnyCPU + C:\Documents and Settings\Stefan\My Documents\Projects\source\opensim\branches\zircon\bin\ + 8.0.50727 + ProjectFiles + 0 + + + + diff --git a/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build b/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build new file mode 100644 index 0000000..f146733 --- /dev/null +++ b/OpenSim.Physics/BasicPhysicsPlugin/OpenSim.Physics.BasicPhysicsPlugin.dll.build @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/OpenSim.Physics/Manager/AssemblyInfo.cs b/OpenSim.Physics/Manager/AssemblyInfo.cs new file mode 100644 index 0000000..57a8913 --- /dev/null +++ b/OpenSim.Physics/Manager/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("PhysicsManager")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("")] +[assembly: AssemblyProduct("PhysicsManager")] +[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/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj b/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj new file mode 100644 index 0000000..728686e --- /dev/null +++ b/OpenSim.Physics/Manager/OpenSim.Physics.Manager.csproj @@ -0,0 +1,102 @@ + + + Local + 8.0.50727 + 2.0 + {58360A80-9333-4E0F-8F83-3CF937E51633} + Debug + AnyCPU + + + + OpenSim.Physics.Manager + JScript + Grid + IE50 + false + Library + + OpenSim.Physics.Manager + + + + + + False + 285212672 + False + + + TRACE;DEBUG + + True + 4096 + False + ..\..\bin\ + False + False + False + 4 + + + + False + 285212672 + False + + + TRACE + + False + 4096 + True + ..\..\bin\ + False + False + False + 4 + + + + + \System.dll + + + \System.Xml.dll.dll + + + \Axiom.MathLib.dll.dll + + + + + OpenSim.Framework.Console + {C8405E1A-EC19-48B6-9C8C-CA03624B9916} + {FAE04EC0-301F-11D3-BF4B-00C04F79EFBC} + + + + + Code + + + Code + + + Code + + + Code + + + Code + + + + + + + + + + diff --git a/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build b/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build new file mode 100644 index 0000000..0f6565b --- /dev/null +++ b/OpenSim.Physics/Manager/OpenSim.Physics.Manager.dll.build @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/OpenSim.Physics/Manager/PhysicsActor.cs b/OpenSim.Physics/Manager/PhysicsActor.cs new file mode 100644 index 0000000..a0b6c21 --- /dev/null +++ b/OpenSim.Physics/Manager/PhysicsActor.cs @@ -0,0 +1,161 @@ +/* +* 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 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 ``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 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 System.Text; + +namespace OpenSim.Physics.Manager +{ + public abstract class PhysicsActor + { + public static PhysicsActor Null + { + get + { + return new NullPhysicsActor(); + } + } + + public abstract PhysicsVector Position + { + get; + set; + } + + public abstract PhysicsVector Velocity + { + get; + set; + } + + public abstract PhysicsVector Acceleration + { + get; + } + + public abstract Axiom.MathLib.Quaternion Orientation + { + get; + set; + } + + public abstract bool Flying + { + get; + set; + } + + public abstract bool Kinematic + { + get; + set; + } + + public abstract void AddForce(PhysicsVector force); + + public abstract void SetMomentum(PhysicsVector momentum); + } + + public class NullPhysicsActor : PhysicsActor + { + public override PhysicsVector Position + { + get + { + return PhysicsVector.Zero; + } + set + { + return; + } + } + + public override PhysicsVector Velocity + { + get + { + return PhysicsVector.Zero; + } + set + { + return; + } + } + + public override Axiom.MathLib.Quaternion Orientation + { + get + { + return Axiom.MathLib.Quaternion.Identity; + } + set + { + + } + } + + public override PhysicsVector Acceleration + { + get { return PhysicsVector.Zero; } + } + + public override bool Flying + { + get + { + return false; + } + set + { + return; + } + } + + public override bool Kinematic + { + get + { + return true; + } + set + { + return; + } + } + + public override void AddForce(PhysicsVector force) + { + return; + } + + public override void SetMomentum(PhysicsVector momentum) + { + return; + } + } +} diff --git a/OpenSim.Physics/Manager/PhysicsManager.cs b/OpenSim.Physics/Manager/PhysicsManager.cs new file mode 100644 index 0000000..616682b --- /dev/null +++ b/OpenSim.Physics/Manager/PhysicsManager.cs @@ -0,0 +1,116 @@ +/* +* 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 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 ``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 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 System.Collections; +using System.IO; +using System.Reflection; +using Axiom.MathLib; + +namespace OpenSim.Physics.Manager +{ + /// + /// Description of MyClass. + /// + public class PhysicsManager + { + private Dictionary _plugins=new Dictionary(); + + public PhysicsManager() + { + + } + + public PhysicsScene GetPhysicsScene(string engineName) + { + if (String.IsNullOrEmpty(engineName)) + { + return new NullPhysicsScene(); + } + + if(_plugins.ContainsKey(engineName)) + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine("creating "+engineName); + return _plugins[engineName].GetScene(); + } + else + { + string error = String.Format("couldn't find physicsEngine: {0}", engineName); + OpenSim.Framework.Console.MainConsole.Instance.WriteLine(error); + throw new ArgumentException(error); + } + } + + public void LoadPlugins() + { + string path = Path.Combine(System.AppDomain.CurrentDomain.BaseDirectory ,"Physics"); + string[] pluginFiles = Directory.GetFiles(path, "*.dll"); + + + for(int i= 0; i 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 ``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 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 System.Text; + +namespace OpenSim.Physics.Manager +{ + public abstract class PhysicsScene + { + public static PhysicsScene Null + { + get + { + return new NullPhysicsScene(); + } + } + + public abstract PhysicsActor AddAvatar(PhysicsVector position); + + public abstract PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size); + + public abstract void Simulate(float timeStep); + + public abstract void GetResults(); + + public abstract void SetTerrain(float[] heightMap); + + public abstract bool IsThreaded + { + get; + } + } + + public class NullPhysicsScene : PhysicsScene + { + private static int m_workIndicator; + + public override PhysicsActor AddAvatar(PhysicsVector position) + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine("NullPhysicsScene : AddAvatar({0})", position); + return PhysicsActor.Null; + } + + public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine("NullPhysicsScene : AddPrim({0},{1})", position, size); + return PhysicsActor.Null; + } + + public override void Simulate(float timeStep) + { + m_workIndicator = (m_workIndicator + 1) % 10; + + OpenSim.Framework.Console.MainConsole.Instance.SetStatus(m_workIndicator.ToString()); + } + + public override void GetResults() + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine("NullPhysicsScene : GetResults()"); + } + + public override void SetTerrain(float[] heightMap) + { + OpenSim.Framework.Console.MainConsole.Instance.WriteLine("NullPhysicsScene : SetTerrain({0} items)", heightMap.Length); + } + + public override bool IsThreaded + { + get { return false; } + } + } +} diff --git a/OpenSim.Physics/Manager/PhysicsVector.cs b/OpenSim.Physics/Manager/PhysicsVector.cs new file mode 100644 index 0000000..3c824d0 --- /dev/null +++ b/OpenSim.Physics/Manager/PhysicsVector.cs @@ -0,0 +1,54 @@ +/* +* 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 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 ``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 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 System.Text; + +namespace OpenSim.Physics.Manager +{ + public class PhysicsVector + { + public float X; + public float Y; + public float Z; + + public PhysicsVector() + { + + } + + public PhysicsVector(float x, float y, float z) + { + X = x; + Y = y; + Z = z; + } + + public static readonly PhysicsVector Zero = new PhysicsVector(0f, 0f, 0f); + } +} diff --git a/OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs b/OpenSim.Physics/PhysXPlugin/AssemblyInfo.cs new file mode 100644 index 0000000..913aae7 --- /dev/null +++ b/OpenSim.Physics/PhysXPlugin/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/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj b/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj new file mode 100644 index 0000000..e1e8eea --- /dev/null +++ b/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.csproj @@ -0,0 +1,93 @@ + + + Local + 8.0.50727 + 2.0 + {CBE1E31D-D7E3-4791-A616-F00173BBC26A} + Debug + AnyCPU + + + + OpenSim.Physics.PhysXPlugin + JScript + Grid + IE50 + false + Library + + OpenSim.Physics.PhysXPlugin + + + + + + False + 285212672 + False + + + TRACE;DEBUG + + True + 4096 + False + ..\..\bin\Physics\ + False + False + False + 4 + + + + False + 285212672 + False + + + TRACE + + False + 4096 + True + ..\..\bin\Physics\ + False + False + False + 4 + + + + + \System.dll + + + \Axiom.MathLib.dll.dll + + + \PhysX_Wrapper_Dotnet.dll.dll + + + + + OpenSim.Physics.Manager + {58360A80-9333-4E0F-8F83-3CF937E51633} + {FAE04EC0-301F-11D3-BF4B-00C04F79EFBC} + + + + + Code + + + Code + + + + + + + + + + diff --git a/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build b/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build new file mode 100644 index 0000000..8f9e7dc --- /dev/null +++ b/OpenSim.Physics/PhysXPlugin/OpenSim.Physics.PhysXPlugin.dll.build @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs b/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs new file mode 100644 index 0000000..043c2f1 --- /dev/null +++ b/OpenSim.Physics/PhysXPlugin/PhysXPlugin.cs @@ -0,0 +1,422 @@ +/* +* 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 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 ``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 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 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 ``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 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 OpenSim.Physics.Manager; +using PhysXWrapper; + +namespace OpenSim.Physics.PhysXPlugin +{ + /// + /// Will be the PhysX plugin but for now will be a very basic physics engine + /// + 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 _characters = new List(); + private List _prims = new List(); + private float[] _heightMap; + private NxPhysicsSDK mySdk; + private NxScene scene; + + public PhysXScene() + { + mySdk = NxPhysicsSDK.CreateSDK(); + Console.WriteLine("Sdk created - now creating scene"); + 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; + private float gravityAccel; + + 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 bool Kinematic + { + get + { + return false; + } + set + { + + } + } + + public override Axiom.MathLib.Quaternion Orientation + { + get + { + return Axiom.MathLib.Quaternion.Identity; + } + set + { + + } + } + + 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 + { + gravityAccel+= -9.8f; + vec.Z = (gravityAccel + this._velocity.Z) * timeStep; + } + int res = this._character.Move(vec); + if(res == 1) + { + gravityAccel = 0; + } + } + + 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 bool Kinematic + { + get + { + return this._prim.Kinematic; + } + set + { + this._prim.Kinematic = value; + } + } + + public override Axiom.MathLib.Quaternion Orientation + { + get + { + Axiom.MathLib.Quaternion res = new Axiom.MathLib.Quaternion(); + PhysXWrapper.Quaternion quat = this._prim.GetOrientation(); + res.w = quat.W; + res.x = quat.X; + res.y = quat.Y; + res.z = quat.Z; + return res; + } + set + { + + } + } + + 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) + { + + } + + + } + +} -- cgit v1.1